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MODEL_INDEX.md +47 -245
README.md +148 -296
environment/glxinfo_B.txt +4 -4
environment/hardware_snapshot.txt +51 -52
environment/reveal_env_explicit.txt +3 -327
environment/reveal_env_export.yaml +2 -335
environment/reveal_pip_freeze.txt +6 -81
environment/rlbench_env_explicit.txt +304 -363
environment/rlbench_env_export.yaml +71 -18
environment/rlbench_pip_freeze.txt +60 -5
environment/run_peract2_13_rollouts.sh +11 -49
environment/runtime_env_vars.sh +11 -0
environment/setup_same_machine.sh +41 -69
environment/system_packages_same_machine.txt +152 -18
environment/upstream_revisions.txt +14 -31
environment/validate_same_machine.sh +11 -62
regression/baselines.md +45 -0
results/phase_tracking.md +175 -0
tests/__pycache__/conftest.cpython-311-pytest-9.0.2.pyc +0 -0
tests/__pycache__/conftest.cpython-311.pyc +0 -0
tests/__pycache__/test_action_decoder_equivariance.cpython-311-pytest-9.0.2.pyc +0 -0
tests/__pycache__/test_action_decoder_equivariance.cpython-311.pyc +0 -0
tests/__pycache__/test_dataset_v6_keys.cpython-311-pytest-9.0.2.pyc +0 -0
tests/__pycache__/test_dataset_v6_keys.cpython-311.pyc +0 -0
tests/__pycache__/test_dual_memory_contract.cpython-311.pyc +0 -0
tests/__pycache__/test_planner_structured_utility.cpython-311-pytest-9.0.2.pyc +0 -0
tests/__pycache__/test_planner_structured_utility.cpython-311.pyc +0 -0
tests/__pycache__/test_policy_topk_cascade.cpython-311-pytest-9.0.2.pyc +0 -0
tests/__pycache__/test_policy_topk_cascade.cpython-311.pyc +0 -0
tests/__pycache__/test_proposal_diversity.cpython-311-pytest-9.0.2.pyc +0 -0
tests/__pycache__/test_proposal_diversity.cpython-311.pyc +0 -0
tests/__pycache__/test_rgb_backward_compat.cpython-311-pytest-9.0.2.pyc +0 -0
tests/__pycache__/test_rgb_backward_compat.cpython-311.pyc +0 -0
tests/__pycache__/test_rgbd_forward_contract.cpython-311-pytest-9.0.2.pyc +0 -0
tests/__pycache__/test_rgbd_forward_contract.cpython-311.pyc +0 -0
tests/__pycache__/test_role_loss_permutation.cpython-311-pytest-9.0.2.pyc +0 -0
tests/__pycache__/test_role_loss_permutation.cpython-311.pyc +0 -0
tests/__pycache__/test_world_model_state_contract.cpython-311-pytest-9.0.2.pyc +0 -0
tests/__pycache__/test_world_model_state_contract.cpython-311.pyc +0 -0
tests/conftest.py +168 -0
tests/test_action_decoder_equivariance.py +19 -0
tests/test_dataset_v6_keys.py +25 -0
tests/test_dual_memory_contract.py +17 -0
tests/test_planner_structured_utility.py +31 -0
tests/test_policy_topk_cascade.py +25 -0
tests/test_proposal_diversity.py +9 -0
tests/test_rgb_backward_compat.py +33 -0
tests/test_rgbd_forward_contract.py +28 -0
tests/test_role_loss_permutation.py +16 -0
tests/test_world_model_state_contract.py +23 -0

MODEL_INDEX.md CHANGED Viewed

@@ -1,247 +1,49 @@
 # Model Index
-This file lists the uploaded checkpoints, datasets, and raw report files referenced by the current README.
-## Proxy Checkpoints
-### Dummy Backbone Runs
-- backbone-only checkpoint
-  - `artifacts/outputs/reveal_runs/proxy_backbone_only/checkpoint_best.pt`
-- backbone-only metrics
-  - `artifacts/outputs/reveal_runs/proxy_backbone_only/metrics.json`
-- reveal-state checkpoint
-  - `artifacts/outputs/reveal_runs/proxy_reveal_state/checkpoint_best.pt`
-- reveal-state metrics
-  - `artifacts/outputs/reveal_runs/proxy_reveal_state/metrics.json`
-### Frozen CLIP Backbone Runs
-- backbone-only checkpoint
-  - `artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt`
-- backbone-only metrics
-  - `artifacts/outputs/reveal_runs/proxy_backbone_only_clip/metrics.json`
-- reveal-state checkpoint
-  - `artifacts/outputs/reveal_runs/proxy_reveal_state_clip/checkpoint_best.pt`
-- reveal-state metrics
-  - `artifacts/outputs/reveal_runs/proxy_reveal_state_clip/metrics.json`
-## Proxy Datasets
-- dummy train dataset
-  - `artifacts/data/reveal_proxy/proxy_train_v4_noleak_counterfactual.pt`
-- dummy val dataset
-  - `artifacts/data/reveal_proxy/proxy_val_v4_noleak_counterfactual.pt`
-- CLIP train dataset
-  - `artifacts/data/reveal_proxy/proxy_train_clip224_v4_noleak_counterfactual.pt`
-- CLIP val dataset
-  - `artifacts/data/reveal_proxy/proxy_val_clip224_v4_noleak_counterfactual.pt`
-- smoke train dataset
-  - `artifacts/data/reveal_proxy/proxy_train_smoke_v4.pt`
-- smoke val dataset
-  - `artifacts/data/reveal_proxy/proxy_val_smoke_v4.pt`
-- actionhist train dataset
-  - `artifacts/data/reveal_proxy/proxy_train_v5_actionhist.pt`
-- actionhist val dataset
-  - `artifacts/data/reveal_proxy/proxy_val_v5_actionhist.pt`
-- actionhist smoke train dataset
-  - `artifacts/data/reveal_proxy/proxy_train_smoke_v5_actionhist.pt`
-- actionhist smoke val dataset
-  - `artifacts/data/reveal_proxy/proxy_val_smoke_v5_actionhist.pt`
-- CLIP actionhist train dataset
-  - `artifacts/data/reveal_proxy/proxy_train_clip224_v5_actionhist.pt`
-- CLIP actionhist val dataset
-  - `artifacts/data/reveal_proxy/proxy_val_clip224_v5_actionhist.pt`
-## Raw Benchmark Reports
-- dummy deterministic benchmark JSON
-  - `artifacts/outputs/reveal_runs/reveal_eval_v4_det/reveal_benchmark.json`
-- dummy deterministic benchmark Markdown
-  - `artifacts/outputs/reveal_runs/reveal_eval_v4_det/reveal_benchmark.md`
-- CLIP deterministic benchmark JSON
-  - `artifacts/outputs/reveal_runs/reveal_eval_v4_clip_det/reveal_benchmark.json`
-- CLIP deterministic benchmark Markdown
-  - `artifacts/outputs/reveal_runs/reveal_eval_v4_clip_det/reveal_benchmark.md`
-- CLIP 18-episode ablation JSON
-  - `artifacts/outputs/reveal_runs/reveal_ablation_v4_clip_ep18/ablations.json`
-- CLIP 18-episode ablation Markdown
-  - `artifacts/outputs/reveal_runs/reveal_ablation_v4_clip_ep18/ablations.md`
-- CLIP 18-episode ablation partial checkpoint
-  - `artifacts/outputs/reveal_runs/reveal_ablation_v4_clip_ep18/ablations.partial.json`
-## Interaction-State Outputs
-- interaction-state smoke checkpoint
-  - `artifacts/outputs/interaction/proxy_interaction_state_smoke/checkpoint_best.pt`
-- interaction-state smoke metrics
-  - `artifacts/outputs/interaction/proxy_interaction_state_smoke/metrics.json`
-- interaction-state smoke diagnostics
-  - `artifacts/outputs/interaction/proxy_interaction_state_smoke/diagnostics/proxy_diagnostics.json`
-- interaction-state smoke benchmark JSON
-  - `artifacts/outputs/interaction/reveal_eval_interaction_ep2/reveal_benchmark.json`
-- interaction-state full checkpoint
-  - `artifacts/outputs/interaction/proxy_interaction_state/checkpoint_best.pt`
-- interaction-state full metrics
-  - `artifacts/outputs/interaction/proxy_interaction_state/metrics.json`
-- interaction-state full diagnostics
-  - `artifacts/outputs/interaction/proxy_interaction_state/diagnostics/proxy_diagnostics.json`
-- interaction-state full benchmark JSON
-  - `artifacts/outputs/interaction/reveal_eval_interaction_full_ep2/reveal_benchmark.json`
-- interaction-state ablation JSON
-  - `artifacts/outputs/interaction/reveal_ablation_interaction_ep1/ablations.json`
-- interaction-state rolefix smoke checkpoint
-  - `artifacts/outputs/interaction_rolefix/proxy_interaction_state_smoke/checkpoint_best.pt`
-- interaction-state rolefix smoke metrics
-  - `artifacts/outputs/interaction_rolefix/proxy_interaction_state_smoke/metrics.json`
-- interaction-state rolefix smoke diagnostics
-  - `artifacts/outputs/interaction_rolefix/proxy_interaction_state_smoke/diagnostics/proxy_diagnostics.json`
-- interaction-state rolefix smoke benchmark JSON
-  - `artifacts/outputs/interaction_rolefix/reveal_eval_interaction_smoke/reveal_benchmark.json`
-- interaction-state rolefix full checkpoint
-  - `artifacts/outputs/interaction_rolefix_full/proxy_interaction_state/checkpoint_best.pt`
-- interaction-state rolefix full metrics
-  - `artifacts/outputs/interaction_rolefix_full/proxy_interaction_state/metrics.json`
-- interaction-state rolefix full diagnostics
-  - `artifacts/outputs/interaction_rolefix_full/proxy_interaction_state/diagnostics/proxy_diagnostics.json`
-- interaction-state rolefix full benchmark JSON
-  - `artifacts/outputs/interaction_rolefix_full/reveal_eval_interaction/reveal_benchmark.json`
-## Interaction Debug Outputs
-- actionhist smoke checkpoint
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist_smoke/checkpoint_best.pt`
-- actionhist smoke metrics
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist_smoke/metrics.json`
-- actionhist smoke diagnostics
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist_smoke/diagnostics/proxy_diagnostics.json`
-- actionhist full checkpoint
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/checkpoint_best.pt`
-- actionhist full metrics
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/metrics.json`
-- actionhist full diagnostics
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/diagnostics/proxy_diagnostics.json`
-- recency-oracleft full checkpoint
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_recency_oracleft/checkpoint_best.pt`
-- recency-oracleft full metrics
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_recency_oracleft/metrics.json`
-- recency-oracleft full summary
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_recency_oracleft/summary.json`
-- recency-oracleft diagnostics
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_recency_oracleft/diagnostics/proxy_diagnostics.json`
-- CLIP actionhist full checkpoint
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt`
-- CLIP actionhist full metrics
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/metrics.json`
-- CLIP actionhist full summary
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/summary.json`
-- CLIP actionhist diagnostics
-  - `artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/diagnostics/proxy_diagnostics.json`
-- corrected interaction benchmark JSON
-  - `artifacts/outputs/interaction_debug/reveal_eval_interaction_actionhist_commit4/reveal_benchmark.json`
-- corrected baseline compare benchmark JSON
-  - `artifacts/outputs/interaction_debug/reveal_eval_old_no_leak_baselines_commit4/reveal_benchmark.json`
-- corrected CLIP baseline benchmark JSON
-  - `artifacts/outputs/interaction_debug/reveal_eval_clip_baselines_commit4/reveal_benchmark.json`
-- corrected CLIP interaction compare benchmark JSON
-  - `artifacts/outputs/interaction_debug/reveal_eval_interaction_clip_commit4_compare/reveal_benchmark.json`
-- corrected recency-oracleft compare benchmark JSON
-  - `artifacts/outputs/interaction_debug/reveal_eval_interaction_recency_oracleft_commit4_compare/reveal_benchmark.json`
-- actionhist ablation full benchmark JSON
-  - `artifacts/outputs/interaction_debug/ablation_none_actionhist/reveal_benchmark.json`
-- actionhist ablation no-interaction-head benchmark JSON
-  - `artifacts/outputs/interaction_debug/ablation_no_interaction_head_actionhist/reveal_benchmark.json`
-- actionhist ablation no-world-model benchmark JSON
-  - `artifacts/outputs/interaction_debug/ablation_no_world_model_actionhist/reveal_benchmark.json`
-- actionhist ablation no-planner benchmark JSON
-  - `artifacts/outputs/interaction_debug/ablation_no_planner_actionhist/reveal_benchmark.json`
-- actionhist ablation no-role-tokens benchmark JSON
-  - `artifacts/outputs/interaction_debug/ablation_no_role_tokens_actionhist/reveal_benchmark.json`
-- actionhist ablation short-history benchmark JSON
-  - `artifacts/outputs/interaction_debug/ablation_short_history_actionhist/reveal_benchmark.json`
-- chunk debug trace
-  - `artifacts/outputs/interaction_debug/chunk_debug_trace.json`
-- actionhist smoke checks
-  - `artifacts/outputs/interaction_debug/smoke_checks_actionhist/smoke_checks.json`
-## RLBench Two-Robot Smoke Outputs
-- import smoke JSON
-  - `artifacts/outputs/interaction/rlbench_env_smoke/import_smoke.json`
-- launch reset smoke JSON
-  - `artifacts/outputs/interaction/rlbench_env_smoke/launch_reset_smoke.json`
-- launch step smoke JSON
-  - `artifacts/outputs/interaction/rlbench_env_smoke/launch_step_smoke.json`
-- launch smoke CLI JSON
-  - `artifacts/outputs/interaction/rlbench_env_smoke/launch_smoke_cli.json`
-- train command export
-  - `artifacts/outputs/interaction/rlbench_env_smoke/import_and_train_command.txt`
-- RLBench open_drawer smoke checkpoint
-  - `artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/checkpoint_best.pt`
-- RLBench open_drawer smoke summary
-  - `artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/summary.json`
-- RLBench open_drawer rollout eval JSON
-  - `artifacts/outputs/interaction/rlbench_open_drawer_rollout_eval/rollout_eval.json`
-- RLBench open_drawer rollout eval Markdown
-  - `artifacts/outputs/interaction/rlbench_open_drawer_rollout_eval/rollout_eval.md`
-- RLBench open_drawer rollout eval rerun JSON
-  - `artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_rerun/rollout_eval.json`
-- RLBench open_drawer rollout eval clipped JSON
-  - `artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_clipped/rollout_eval.json`
-- RLBench open_drawer rollout eval recovered JSON
-  - `artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_recovered/rollout_eval.json`
-- RLBench smoke dataset root
-  - `artifacts/data/rlbench_smoke_open_drawer/`
-## RLBench PerAct2 13-Task Outputs
-- PerAct2 import smoke JSON
-  - `artifacts/outputs/interaction_debug/peract2_import_smoke.json`
-- PerAct2 train command export
-  - `artifacts/outputs/interaction_debug/peract2_import_train_command.txt`
-- PerAct2 bimanual_push_box launch smoke JSON
-  - `artifacts/outputs/interaction_debug/peract2_bimanual_push_box_launch_smoke.json`
-- PerAct2 no-plan 13-task combined rollout JSON
-  - `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/rollout_eval.json`
-- PerAct2 no-plan 13-task combined rollout Markdown
-  - `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/rollout_eval.md`
-- PerAct2 planner-enabled 13-task combined rollout JSON
-  - `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/rollout_eval.json`
-- PerAct2 planner-enabled 13-task combined rollout Markdown
-  - `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/rollout_eval.md`
-- PerAct2 no-plan per-task rollout root
-  - `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/`
-- PerAct2 planner-enabled per-task rollout root
-  - `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/`
-## Smoke Artifacts
-- proxy backbone-only smoke checkpoint
-  - `artifacts/outputs/smoke/proxy_backbone_only_smoke/checkpoint_best.pt`
-- proxy reveal-state smoke checkpoint
-  - `artifacts/outputs/smoke/proxy_reveal_state_smoke/checkpoint_best.pt`
-- proxy smoke benchmark JSON
-  - `artifacts/outputs/smoke/reveal_eval_ep2/reveal_benchmark.json`
-- proxy smoke ablation JSON
-  - `artifacts/outputs/smoke/reveal_ablation_ep2/ablations.json`
-- RLBench launch smoke output
-  - `artifacts/logs/system/rlbench_launch_smoke.txt`
-## Environment Files
-- machine snapshot
-  - `environment/hardware_snapshot.txt`
-- OpenGL snapshot
-  - `environment/glxinfo_B.txt`
-- third-party pins
-  - `environment/upstream_revisions.txt`
-- same-machine system packages
-  - `environment/system_packages_same_machine.txt`
-- same-machine setup helper
-  - `environment/setup_same_machine.sh`
-- same-machine validation helper
-  - `environment/validate_same_machine.sh`
-- same-machine PerAct2 rollout helper
-  - `environment/run_peract2_13_rollouts.sh`
-- PerAct2 isolated sweep helper
-  - `code/reveal_vla_bimanual/eval/run_peract2_task_sweep.py`

 # Model Index
+## R3D Proxy Runs
+| Run | Config | Seed | Checkpoint | Summary | Benchmark | Diagnostics |
+| --- | --- | ---: | --- | --- | --- | --- |
+| stage1 dummy | `proxy_interaction_r3d_stage1_dummy.yaml` | 13 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/diagnostics_full/proxy_diagnostics.json` |
+| stage1 dummy | `proxy_interaction_r3d_stage1_dummy.yaml` | 14 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14/diagnostics_full/proxy_diagnostics.json` |
+| stage1 dummy | `proxy_interaction_r3d_stage1_dummy.yaml` | 15 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15/diagnostics_full/proxy_diagnostics.json` |
+| stage2 dummy | `proxy_interaction_r3d_stage2_dummy.yaml` | 21 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/diagnostics_full/proxy_diagnostics.json` |
+| stage2 dummy | `proxy_interaction_r3d_stage2_dummy.yaml` | 22 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22/diagnostics_full/proxy_diagnostics.json` |
+| stage2 dummy | `proxy_interaction_r3d_stage2_dummy.yaml` | 23 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23/diagnostics_full/proxy_diagnostics.json` |
+| stage1 clip | `proxy_interaction_r3d_stage1_clip.yaml` | 7 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7/diagnostics_full/proxy_diagnostics.json` |
+| stage1 clip | `proxy_interaction_r3d_stage1_clip.yaml` | 8 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8/diagnostics_full/proxy_diagnostics.json` |
+| stage1 clip | `proxy_interaction_r3d_stage1_clip.yaml` | 9 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9/diagnostics_full/proxy_diagnostics.json` |
+| stage2 clip | `proxy_interaction_r3d_stage2_clip.yaml` | 11 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11/diagnostics_full/proxy_diagnostics.json` |
+| stage2 clip | `proxy_interaction_r3d_stage2_clip.yaml` | 12 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12/diagnostics_full/proxy_diagnostics.json` |
+| stage2 clip | `proxy_interaction_r3d_stage2_clip.yaml` | 13 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/diagnostics_full/proxy_diagnostics.json` |
+| stage3 clip rgbd | `proxy_interaction_r3d_stage3_clip_rgbd.yaml` | 17 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/diagnostics_full/proxy_diagnostics.json` |
+| stage3 clip rgbd | `proxy_interaction_r3d_stage3_clip_rgbd.yaml` | 18 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18/diagnostics_full/proxy_diagnostics.json` |
+| stage3 clip rgbd | `proxy_interaction_r3d_stage3_clip_rgbd.yaml` | 19 | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/checkpoint_best.pt` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/summary.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/benchmark_full/reveal_benchmark.json` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19/diagnostics_full/proxy_diagnostics.json` |
+## Ablation Benchmark Files
+| Ablation | File |
+| --- | --- |
+| stage1 dummy `no_planner` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/benchmark_no_planner/reveal_benchmark.json` |
+| stage1 dummy `no_role_symmetry` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13/benchmark_no_role_symmetry/reveal_benchmark.json` |
+| stage2 dummy `no_world_model` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_no_world_model/reveal_benchmark.json` |
+| stage2 dummy `short_history` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21/benchmark_short_history/reveal_benchmark.json` |
+| stage3 clip RGB-D `no_depth` | `artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/benchmark_no_depth/reveal_benchmark.json` |
+Equivalent files exist under the other seed directories.
+## Integration Artifacts
+| Artifact | File |
+| --- | --- |
+| RLBench import/config smoke | `artifacts/outputs/r3d/rlbench_smokes/smoke_test_output.txt` |
+| RLBench `open_drawer` launch smoke | `artifacts/outputs/r3d/rlbench_smokes/launch_smoke_open_drawer.txt` |
+| RLBench `open_drawer` rollout | `artifacts/outputs/r3d/rlbench_open_drawer_r3d_rollout/rollout_eval.json` |
+| PerAct2 13-task launch smoke summary | `artifacts/outputs/r3d/peract2_13_launch_smoke/launch_smoke_summary.json` |
+## Historical References
+| File | Purpose |
+| --- | --- |
+| `regression/baselines.md` | historical baseline metrics from the downloaded snapshot |
+| `results/phase_tracking.md` | phase-by-phase acceptance tracking |

README.md CHANGED Viewed

@@ -1,43 +1,88 @@
 # VLAarchtests
-Bundle uploaded from the `/workspace` runpod session dated `2026-03-24`.
-## Contents
 - `code/reveal_vla_bimanual/`
-  - project code used for the current proxy and RLBench runs
-- `artifacts/outputs/`
-  - training outputs, checkpoints, benchmark JSON/Markdown reports, and smoke outputs
-- `artifacts/data/reveal_proxy/`
-  - generated proxy datasets used by the no-leak runs
-- `artifacts/logs/system/`
-  - Xorg config/log files from the RLBench headless setup on this node
 - `environment/`
-  - machine snapshot, env exports, upstream revision pins, and setup helpers
 - `MODEL_INDEX.md`
-  - checkpoint and dataset path index
-## Hardware Snapshot
-| Item | Value |
-| --- | --- |
-| GPU | NVIDIA RTX 6000 Ada Generation |
-| CPU | 2x AMD EPYC 75F3 32-Core Processor |
-| Visible CPUs | 128 |
-| RLBench env Python | 3.10.20 |
-Raw machine outputs are in:
-- `environment/hardware_snapshot.txt`
-- `environment/glxinfo_B.txt`
 ## Same-Machine Setup Files
 - `environment/setup_same_machine.sh`
 - `environment/validate_same_machine.sh`
 - `environment/run_peract2_13_rollouts.sh`
-- `environment/system_packages_same_machine.txt`
 - `environment/upstream_revisions.txt`
 - `environment/rlbench_env_export.yaml`
 - `environment/rlbench_env_explicit.txt`
 - `environment/rlbench_pip_freeze.txt`
@@ -45,296 +90,103 @@ Raw machine outputs are in:
 - `environment/reveal_env_explicit.txt`
 - `environment/reveal_pip_freeze.txt`
-## Code Paths Updated In This Bundle
-- interaction-state architecture and wiring
-  - `code/reveal_vla_bimanual/models/reveal_head.py`
-  - `code/reveal_vla_bimanual/models/world_model.py`
-  - `code/reveal_vla_bimanual/models/planner.py`
-  - `code/reveal_vla_bimanual/models/action_decoder.py`
-  - `code/reveal_vla_bimanual/models/observation_memory.py`
-  - `code/reveal_vla_bimanual/models/policy.py`
-- proxy training, losses, and evaluator changes
-  - `code/reveal_vla_bimanual/train/losses.py`
-  - `code/reveal_vla_bimanual/train/smoke_checks.py`
-  - `code/reveal_vla_bimanual/eval/run_proxy_diagnostics.py`
-  - `code/reveal_vla_bimanual/eval/run_reveal_benchmark.py`
-- RLBench and PerAct2 adapter changes
-  - `code/reveal_vla_bimanual/sim_rlbench/task_resolver.py`
-  - `code/reveal_vla_bimanual/sim_rlbench/camera_spec.py`
-  - `code/reveal_vla_bimanual/sim_rlbench/obs_config.py`
-  - `code/reveal_vla_bimanual/sim_rlbench/dataset.py`
-  - `code/reveal_vla_bimanual/sim_rlbench/obs_adapter.py`
-  - `code/reveal_vla_bimanual/sim_rlbench/peract2_runner.py`
-  - `code/reveal_vla_bimanual/sim_rlbench/smoke_test.py`
-  - `code/reveal_vla_bimanual/sim_rlbench/launch_smoke.py`
-  - `code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py`
-  - `code/reveal_vla_bimanual/eval/run_peract2_task_sweep.py`
-- same-machine bootstrap helpers
-  - `environment/setup_same_machine.sh`
-  - `environment/validate_same_machine.sh`
-  - `environment/run_peract2_13_rollouts.sh`
-  - `environment/upstream_revisions.txt`
-## Raw Training Endpoints
-| Run | Checkpoint | Final train total | Final val total | Metrics |
-| --- | --- | ---: | ---: | --- |
-| dummy backbone-only | `artifacts/outputs/reveal_runs/proxy_backbone_only/checkpoint_best.pt` | 0.0213407213644435 | 0.019940752536058426 | `artifacts/outputs/reveal_runs/proxy_backbone_only/metrics.json` |
-| dummy reveal-state | `artifacts/outputs/reveal_runs/proxy_reveal_state/checkpoint_best.pt` | 1.0815023109316826 | 1.0336408764123917 | `artifacts/outputs/reveal_runs/proxy_reveal_state/metrics.json` |
-| CLIP backbone-only | `artifacts/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt` | 0.017409040848602644 | 0.010200991117883296 | `artifacts/outputs/reveal_runs/proxy_backbone_only_clip/metrics.json` |
-| CLIP reveal-state | `artifacts/outputs/reveal_runs/proxy_reveal_state_clip/checkpoint_best.pt` | 0.7299397423941427 | 0.5189985349064782 | `artifacts/outputs/reveal_runs/proxy_reveal_state_clip/metrics.json` |
-## Raw Deterministic Proxy Benchmark Results
-### Dummy Backbone Runs
-Source: `artifacts/outputs/reveal_runs/reveal_eval_v4_det/reveal_benchmark.json`
-| Model | Mean success | foliage_proxy | bag_proxy | cloth_proxy | visibility_integral | corridor_availability | reocclusion_rate | persistence_horizon_mae | disturbance_cost |
-| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
-| backbone | 0.0 | 0.0 | 0.0 | 0.0 | 62.80461756388346 | 0.9864540547132492 | 0.0 | 0.0 | 0.8890127365787824 |
-| reveal | 0.0 | 0.0 | 0.0 | 0.0 | 62.73463360468546 | 0.9864540547132492 | 0.0 | 2.419941000816309 | 0.8931084167626169 |
-### CLIP Backbone Runs
-Source: `artifacts/outputs/reveal_runs/reveal_eval_v4_clip_det/reveal_benchmark.json`
-| Model | Mean success | foliage_proxy | bag_proxy | cloth_proxy | visibility_integral | corridor_availability | reocclusion_rate | persistence_horizon_mae | disturbance_cost |
-| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
-| backbone | 0.5138888888888888 | 0.4583333333333333 | 0.5416666666666666 | 0.5416666666666666 | 32.18176985614829 | 0.8593082576990128 | 0.0 | 0.0 | 0.49907831982192064 |
-| reveal | 0.40277777777777773 | 0.375 | 0.4583333333333333 | 0.375 | 38.406019500560234 | 0.8850651697980033 | 0.0026041666666666665 | 0.9629970236420518 | 0.5956562398415473 |
-## Raw CLIP Ablation Results
-Source: `artifacts/outputs/reveal_runs/reveal_ablation_v4_clip_ep18/ablations.json`
-| Ablation | Mean success | foliage_proxy | bag_proxy | cloth_proxy | visibility_integral | corridor_availability | reocclusion_rate | persistence_horizon_mae | disturbance_cost |
-| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
-| full_model | 0.35185185185185186 | 0.3333333333333333 | 0.3888888888888889 | 0.3333333333333333 | 41.31481176614761 | 0.8930041271227377 | 0.002777777777777778 | 0.9662547600565393 | 0.6302865350411998 |
-| no_reveal_state_head | 0.3333333333333333 | 0.3333333333333333 | 0.3888888888888889 | 0.2777777777777778 | 6.436306021831654 | 0.33413351644520406 | 0.008333333333333335 | 0.0 | 0.5424560326393004 |
-| no_world_model | 0.3333333333333333 | 0.3333333333333333 | 0.3888888888888889 | 0.2777777777777778 | 6.436306021831654 | 0.33413351644520406 | 0.008333333333333335 | 4.395576057914128 | 0.5424560326393004 |
-| no_planner_reranking | 0.3333333333333333 | 0.3333333333333333 | 0.3888888888888889 | 0.2777777777777778 | 6.436306021831654 | 0.33413351644520406 | 0.008333333333333335 | 4.395576057914128 | 0.5424560326393004 |
-| no_support_mode_conditioning | 0.35185185185185186 | 0.3333333333333333 | 0.3888888888888889 | 0.3333333333333333 | 41.31481176614761 | 0.8930041271227377 | 0.002777777777777778 | 0.9662547600565393 | 0.6302865350411998 |
-| no_wrist_cameras | 0.35185185185185186 | 0.3333333333333333 | 0.3888888888888889 | 0.3333333333333333 | 41.34216132428911 | 0.8971193510073202 | 0.0011574074074074073 | 0.9659118890357264 | 0.6302977896950863 |
-| no_global_camera | 0.35185185185185186 | 0.3333333333333333 | 0.3888888888888889 | 0.3333333333333333 | 41.33038121020353 | 0.8943758684175985 | 0.002777777777777778 | 0.9659084288095618 | 0.6303076523321646 |
-## Raw Interaction-State Training Endpoints
-| Run | Checkpoint | Final train total | Final val total | Metrics |
-| --- | --- | ---: | ---: | --- |
-| interaction-state smoke | `artifacts/outputs/interaction/proxy_interaction_state_smoke/checkpoint_best.pt` | 1.2046506234577723 | 1.1171032786369324 | `artifacts/outputs/interaction/proxy_interaction_state_smoke/metrics.json` |
-| interaction-state full | `artifacts/outputs/interaction/proxy_interaction_state/checkpoint_best.pt` | 1.0910143380363782 | 1.1184726804494858 | `artifacts/outputs/interaction/proxy_interaction_state/metrics.json` |
-| interaction-state rolefix smoke | `artifacts/outputs/interaction_rolefix/proxy_interaction_state_smoke/checkpoint_best.pt` | 1.205997347831726 | 1.130429446697235 | `artifacts/outputs/interaction_rolefix/proxy_interaction_state_smoke/metrics.json` |
-| interaction-state rolefix full | `artifacts/outputs/interaction_rolefix_full/proxy_interaction_state/checkpoint_best.pt` | 1.1160989701747894 | 1.0928071364760399 | `artifacts/outputs/interaction_rolefix_full/proxy_interaction_state/metrics.json` |
-| RLBench `open_drawer` smoke | `artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/checkpoint_best.pt` | 0.1628243774175644 | 0.05217807739973068 | `artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/summary.json` |
-## Raw Interaction-State Proxy Diagnostics
-| Run | Planner top-1 accuracy | Planner regret | Risk calibration MSE | Role collapse rate | Samples | JSON |
-| --- | ---: | ---: | ---: | ---: | ---: | --- |
-| reveal-state smoke | 0.25 | 0.2715669870376587 | 0.0521860271692276 | 0.0 | 16 | `artifacts/outputs/interaction/proxy_reveal_state_smoke_diagnostics/proxy_diagnostics.json` |
-| reveal-state full | 0.2698412698412698 | 0.3642531931400299 | 0.011263838969171047 | 0.0 | 126 | `artifacts/outputs/interaction/proxy_reveal_state_full_diagnostics/proxy_diagnostics.json` |
-| interaction-state smoke | 0.375 | 0.4054882526397705 | 0.01106204278767109 | 1.0 | 16 | `artifacts/outputs/interaction/proxy_interaction_state_smoke/diagnostics/proxy_diagnostics.json` |
-| interaction-state full | 0.42857142857142855 | 0.1302730292081833 | 0.010318642482161522 | 1.0 | 126 | `artifacts/outputs/interaction/proxy_interaction_state/diagnostics/proxy_diagnostics.json` |
-| interaction-state rolefix smoke | 0.5 | 0.28291308879852295 | 0.011351427994668484 | 0.0 | 16 | `artifacts/outputs/interaction_rolefix/proxy_interaction_state_smoke/diagnostics/proxy_diagnostics.json` |
-| interaction-state rolefix full | 0.29365079365079366 | 0.08918909728527069 | 0.009334742091596127 | 0.0 | 126 | `artifacts/outputs/interaction_rolefix_full/proxy_interaction_state/diagnostics/proxy_diagnostics.json` |
-## Raw Interaction-State Proxy Benchmark Results
-| Run | Mean success | foliage_proxy | bag_proxy | cloth_proxy | visibility_integral | corridor_availability | reocclusion_rate | persistence_horizon_mae | disturbance_cost | JSON |
-| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | --- |
-| interaction-state smoke | 0.0 | 0.0 | 0.0 | 0.0 | 62.47385279337565 | 0.9876543283462524 | 0.0 | 2.8290874414145946 | 0.9037613173325857 | `artifacts/outputs/interaction/reveal_eval_interaction_ep2/reveal_benchmark.json` |
-| interaction-state full | 0.0 | 0.0 | 0.0 | 0.0 | 62.6574592590332 | 0.9876543283462524 | 0.0 | 2.1672919432322186 | 0.8980477948983511 | `artifacts/outputs/interaction/reveal_eval_interaction_full_ep2/reveal_benchmark.json` |
-| interaction-state rolefix smoke | 0.0 | 0.0 | 0.0 | 0.0 | 62.513198375701904 | 0.9871399253606796 | 0.0 | 2.8390470795333385 | 0.9011474947134653 | `artifacts/outputs/interaction_rolefix/reveal_eval_interaction_smoke/reveal_benchmark.json` |
-| interaction-state rolefix full | 0.0 | 0.0 | 0.0 | 0.0 | 64.04203844070435 | 0.9837105721235275 | 0.0 | 1.7914747282500483 | 0.8335009200705422 | `artifacts/outputs/interaction_rolefix_full/reveal_eval_interaction/reveal_benchmark.json` |
-## Raw Interaction-State Ablation Results
-Source: `artifacts/outputs/interaction/reveal_ablation_interaction_ep1/ablations.json`
-| Ablation | Mean success | foliage_proxy | bag_proxy | cloth_proxy | visibility_integral | corridor_availability | reocclusion_rate | persistence_horizon_mae | disturbance_cost |
-| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
-| full_model | 0.0 | 0.0 | 0.0 | 0.0 | 67.46570078531902 | 0.9835391044616699 | 0.0 | 2.9001280729969343 | 0.7520796457926432 |
-| no_interaction_head | 0.0 | 0.0 | 0.0 | 0.0 | 63.56013615926107 | 0.9876543283462524 | 0.0 | null | 0.8973869283994039 |
-| no_world_model | 0.0 | 0.0 | 0.0 | 0.0 | 63.46492385864258 | 0.9876543283462524 | 0.0 | 2.8303335145115853 | 0.900044322013855 |
-| no_planner | 0.0 | 0.0 | 0.0 | 0.0 | 63.54209772745768 | 0.9876543283462524 | 0.0 | 2.8313964143395425 | 0.8962932030359904 |
-| no_role_tokens | 0.0 | 0.0 | 0.0 | 0.0 | 67.39010111490886 | 0.9835391044616699 | 0.0 | 2.8990648205081624 | 0.7544853488604227 |
-| short_history | 0.0 | 0.0 | 0.0 | 0.0 | 67.46627298990886 | 0.9835391044616699 | 0.0 | 2.900133213897546 | 0.7520630160967509 |
 ## Raw RLBench Outputs
-### Legacy Open-Drawer Path
-| Output | Raw values | File |
-| --- | --- | --- |
-| import smoke | `resolved_upstream_root=/workspace/third_party/peract_bimanual/peract`, `imports.rlbench=ok`, `imports.pyrep=ok`, `imports.yarr=ok` | `artifacts/outputs/interaction/rlbench_env_smoke/import_smoke.json` |
-| launch reset smoke | `description=\"hold the drawer with left hand and open the bottom drawer with right hand\"`, `front_rgb_shape=[128,128,3]`, `wrist_rgb_shape=[128,128,3]`, `wrist2_rgb_shape=[128,128,3]`, `right_pose_shape=[7]`, `left_pose_shape=[7]` | `artifacts/outputs/interaction/rlbench_env_smoke/launch_reset_smoke.json` |
-| launch step smoke | `description=\"hold the drawer with left hand and open the bottom drawer with right hand\"`, `reward=0.0`, `done=false`, `front_rgb_shape_after_step=[128,128,3]` | `artifacts/outputs/interaction/rlbench_env_smoke/launch_step_smoke.json` |
-| train command export | raw command text | `artifacts/outputs/interaction/rlbench_env_smoke/import_and_train_command.txt` |
-| offline RLBench smoke summary | `train_dataset.num_samples=1`, `val_dataset.num_samples=1`, `plan_enabled_for_eval=true`, `frozen_modules=[interaction_head, world_model, planner]` | `artifacts/outputs/interaction/rlbench_open_drawer_interaction_smoke/summary.json` |
-| rollout eval | `plan_requested=true`, `plan_applied=true`, `tasks.open_drawer.error=\"A path could not be found because the target is outside of workspace.\"`, `mean_success=0.0` | `artifacts/outputs/interaction/rlbench_open_drawer_rollout_eval/rollout_eval.json` |
-### PerAct2 Import And Launch Smoke
-| Output | Raw values | File |
-| --- | --- | --- |
-| PerAct2 import smoke | `resolved_upstream_root=/workspace/third_party/peract2_bimanual_probe_20260324`, `imports.rlbench=ok`, `imports.pyrep=ok`, `imports.yarr=ok` | `artifacts/outputs/interaction_debug/peract2_import_smoke.json` |
-| PerAct2 train command export | raw command text | `artifacts/outputs/interaction_debug/peract2_import_train_command.txt` |
-| PerAct2 `bimanual_push_box` launch smoke | `task=BimanualPushBox`, `description=\"push the box to the red area\"`, `front_rgb_shape=[128,128,3]`, `wrist_left_rgb_shape=[128,128,3]`, `wrist_right_rgb_shape=[128,128,3]`, `reward=0.0`, `done=false` | `artifacts/outputs/interaction_debug/peract2_bimanual_push_box_launch_smoke.json` |
-### PerAct2 13-Task Isolated Rollout Sweeps
-| Mode | Plan requested | Plan applied | Mean success | Task count | Error tasks | Combined JSON | Combined Markdown |
-| --- | --- | --- | ---: | ---: | --- | --- | --- |
-| no-plan split | `false` | `false` | 0.0 | 13 | `[]` | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/rollout_eval.md` |
-| planner-enabled split | `true` | `true` | 0.0 | 13 | `[]` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/rollout_eval.md` |
-Per-task rollout JSON roots:
-- `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/`
-- `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/`
-| Task | No-plan mean_success | Planner mean_success | No-plan JSON | Planner JSON |
-| --- | ---: | ---: | --- | --- |
-| bimanual_push_box | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_push_box/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_push_box/rollout_eval.json` |
-| bimanual_lift_ball | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_lift_ball/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_lift_ball/rollout_eval.json` |
-| bimanual_dual_push_buttons | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_dual_push_buttons/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_dual_push_buttons/rollout_eval.json` |
-| bimanual_pick_plate | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_pick_plate/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_pick_plate/rollout_eval.json` |
-| bimanual_put_item_in_drawer | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_put_item_in_drawer/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_put_item_in_drawer/rollout_eval.json` |
-| bimanual_put_bottle_in_fridge | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.json` |
-| bimanual_handover_item | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_handover_item/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_handover_item/rollout_eval.json` |
-| bimanual_pick_laptop | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_pick_laptop/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_pick_laptop/rollout_eval.json` |
-| bimanual_straighten_rope | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_straighten_rope/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_straighten_rope/rollout_eval.json` |
-| bimanual_sweep_to_dustpan | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_sweep_to_dustpan/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_sweep_to_dustpan/rollout_eval.json` |
-| bimanual_lift_tray | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_lift_tray/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_lift_tray/rollout_eval.json` |
-| bimanual_handover_item_easy | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_handover_item_easy/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_handover_item_easy/rollout_eval.json` |
-| bimanual_take_tray_out_of_oven | 0.0 | 0.0 | `artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/bimanual_take_tray_out_of_oven/rollout_eval.json` | `artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json` |
-## RLBench Headless Smoke
-The headless X server files used on this node are:
-- `artifacts/logs/system/x99.conf`
-- `artifacts/logs/system/x99.log`
-- `artifacts/logs/system/x99.pid`
-The smoke output file is:
-- `artifacts/logs/system/rlbench_launch_smoke.txt`
-## Dataset Files
-- `artifacts/data/reveal_proxy/proxy_train_v4_noleak_counterfactual.pt`
-- `artifacts/data/reveal_proxy/proxy_val_v4_noleak_counterfactual.pt`
-- `artifacts/data/reveal_proxy/proxy_train_clip224_v4_noleak_counterfactual.pt`
-- `artifacts/data/reveal_proxy/proxy_val_clip224_v4_noleak_counterfactual.pt`
-- `artifacts/data/reveal_proxy/proxy_train_v5_actionhist.pt`
-- `artifacts/data/reveal_proxy/proxy_val_v5_actionhist.pt`
-- `artifacts/data/reveal_proxy/proxy_train_clip224_v5_actionhist.pt`
-- `artifacts/data/reveal_proxy/proxy_val_clip224_v5_actionhist.pt`
-- `artifacts/data/rlbench_smoke_open_drawer/`
-## Raw Follow-Up Interaction Runs
-### Proxy Training Endpoints
-| Run | Checkpoint | Final train total | Final val total | Metrics or summary |
-| --- | --- | ---: | ---: | --- |
-| interaction-state actionhist smoke | `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist_smoke/checkpoint_best.pt` | 1.229741208255291 | 1.1121365427970886 | `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist_smoke/metrics.json` |
-| interaction-state actionhist full | `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/checkpoint_best.pt` | 0.7432626067979089 | 0.8655468797630735 | `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/metrics.json` |
-| interaction-state recency oracleft full | `artifacts/outputs/interaction_debug/proxy_interaction_state_recency_oracleft/checkpoint_best.pt` | 0.9377426480253538 | 1.211510909928216 | `artifacts/outputs/interaction_debug/proxy_interaction_state_recency_oracleft/summary.json` |
-| interaction-state CLIP actionhist full | `artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt` | 1.2094011244349454 | 1.1205205075324527 | `artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/summary.json` |
-### Proxy Benchmark Results With Committed-Chunk Evaluator
-Source files:
-- `artifacts/outputs/interaction_debug/reveal_eval_interaction_actionhist_commit4/reveal_benchmark.json`
-- `artifacts/outputs/interaction_debug/reveal_eval_old_no_leak_baselines_commit4/reveal_benchmark.json`
-| Model | Mean success | foliage_proxy | bag_proxy | cloth_proxy | visibility_integral | corridor_availability | reocclusion_rate | persistence_horizon_mae | disturbance_cost |
-| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
-| interaction | 0.5277777777777778 | 0.4166666666666667 | 0.5416666666666666 | 0.625 | 32.84789120488696 | 0.8711970953477753 | 0.003125 | 1.1544888946683267 | 0.4288607043110662 |
-| backbone | 0.5555555555555555 | 0.4166666666666667 | 0.5833333333333334 | 0.6666666666666666 | 29.27436817354626 | 0.7935162136952082 | 0.07854136604136604 | 0.0 | 0.4006388829503622 |
-| reveal | 0.5416666666666666 | 0.4166666666666667 | 0.5833333333333334 | 0.625 | 30.107333534293705 | 0.8134206715557311 | 0.05241552429052429 | 2.0996421982129196 | 0.42389288420478505 |
-### Frozen CLIP Proxy Benchmark Results With Committed-Chunk Evaluator
-Source files:
-- `artifacts/outputs/interaction_debug/reveal_eval_clip_baselines_commit4/reveal_benchmark.json`
-- `artifacts/outputs/interaction_debug/reveal_eval_interaction_clip_commit4_compare/reveal_benchmark.json`
-| Model | Mean success | foliage_proxy | bag_proxy | cloth_proxy | visibility_integral | corridor_availability | reocclusion_rate | persistence_horizon_mae | disturbance_cost |
-| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
-| interaction_clip | 0.3055555555555556 | 0.2916666666666667 | 0.2916666666666667 | 0.3333333333333333 | 10.379729785852962 | 0.38910322284532917 | 0.026909722222222224 | 3.8014686041765726 | 0.392014082081409 |
-| backbone_clip | 0.3333333333333333 | 0.2916666666666667 | 0.4166666666666667 | 0.2916666666666667 | 5.090670637786388 | 0.30186899772120845 | 0.013541666666666667 | 0.0 | 0.36051381931045196 |
-| reveal_clip | 0.20833333333333334 | 0.20833333333333334 | 0.25 | 0.16666666666666666 | 48.426281129320465 | 0.8251730443702804 | 0.06718750000000001 | 0.9353624902194482 | 0.709741123020649 |
-### Proxy Diagnostics
-| Run | Planner top-1 accuracy | Planner regret | Risk calibration MSE | Role collapse rate | Samples | JSON |
-| --- | ---: | ---: | ---: | ---: | ---: | --- |
-| interaction-state actionhist full | 0.1984732824427481 | 0.07150506228208542 | 0.009851997718214989 | 0.0 | 131 | `artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/diagnostics/proxy_diagnostics.json` |
-| interaction-state recency oracleft full | 0.2824427480916031 | 0.24119873344898224 | 0.009003574028611183 | 0.0 | 131 | `artifacts/outputs/interaction_debug/proxy_interaction_state_recency_oracleft/diagnostics/proxy_diagnostics.json` |
-| interaction-state CLIP actionhist full | 0.3253968253968254 | 0.1786193549633026 | 0.01645304262638092 | 0.0 | 126 | `artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/diagnostics/proxy_diagnostics.json` |
-### Proxy Ablation Results For Actionhist Checkpoint
-Source files:
-- `artifacts/outputs/interaction_debug/ablation_none_actionhist/reveal_benchmark.json`
-- `artifacts/outputs/interaction_debug/ablation_no_interaction_head_actionhist/reveal_benchmark.json`
-- `artifacts/outputs/interaction_debug/ablation_no_world_model_actionhist/reveal_benchmark.json`
-- `artifacts/outputs/interaction_debug/ablation_no_planner_actionhist/reveal_benchmark.json`
-- `artifacts/outputs/interaction_debug/ablation_no_role_tokens_actionhist/reveal_benchmark.json`
-- `artifacts/outputs/interaction_debug/ablation_short_history_actionhist/reveal_benchmark.json`
-| Ablation | Mean success | foliage_proxy | bag_proxy | cloth_proxy | visibility_integral | corridor_availability | reocclusion_rate | persistence_horizon_mae | disturbance_cost |
-| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
-| full_model | 0.5277777777777778 | 0.4166666666666667 | 0.5416666666666666 | 0.625 | 32.84789120488696 | 0.8711970953477753 | 0.003125 | 1.1544888946683267 | 0.4288607043110662 |
-| no_interaction_head | 0.38888888888888884 | 0.16666666666666666 | 0.5 | 0.5 | 42.193298303418686 | 0.9207814501391517 | 0.016840277777777777 | 0.0 | 0.5719093395810988 |
-| no_world_model | 0.5277777777777778 | 0.4166666666666667 | 0.5416666666666666 | 0.625 | 32.94181125528283 | 0.8710797395971086 | 0.003125 | 1.1577362408331497 | 0.42711537962572443 |
-| no_planner | 0.5277777777777778 | 0.4166666666666667 | 0.5416666666666666 | 0.625 | 32.94181125528283 | 0.8710797395971086 | 0.003125 | 1.1577362408331497 | 0.42711537962572443 |
-| no_role_tokens | 0.5277777777777778 | 0.4166666666666667 | 0.5416666666666666 | 0.625 | 33.69023843109608 | 0.8873094982571073 | 0.0 | 1.165569365169578 | 0.4185725698868434 |
-| short_history | 0.5416666666666666 | 0.4166666666666667 | 0.5833333333333334 | 0.625 | 31.347230527136063 | 0.875287824206882 | 0.0 | 3.0816725173931325 | 0.459634010369579 |
-### RLBench Open Drawer Rollout Reruns
-| Output | Raw values | File |
-| --- | --- | --- |
-| rollout rerun with path error | `plan_requested=true`, `plan_applied=true`, `tasks.open_drawer.error="A path could not be found because the target is outside of workspace."`, `mean_success=0.0` | `artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_rerun/rollout_eval.json` |
-| rollout rerun after display and path recovery fixes | `plan_requested=true`, `plan_applied=true`, `tasks.open_drawer.path_recoveries=0`, `tasks.open_drawer.noop_fallbacks=0`, `mean_success=0.0` | `artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_recovered/rollout_eval.json` |
-## Recreate The Same Software Layout
-Use:
-```bash
-/workspace/VLAarchtests/environment/setup_same_machine.sh
-/workspace/VLAarchtests/environment/validate_same_machine.sh
-/workspace/VLAarchtests/environment/run_peract2_13_rollouts.sh
-```
-That helper:
-- links the bundled code to `/workspace/reveal_vla_bimanual` if needed
-- clones the pinned PerAct2 third-party repos into `/workspace/third_party`
-- optionally clones the legacy two-robot repos when `INSTALL_LEGACY_LAYOUT=1`
-- installs the RLBench env
-- installs the reveal env base
-- installs the RLBench headless X prerequisites
-- starts X on `:99`
-- exposes a one-command 13-task sweep helper through `environment/run_peract2_13_rollouts.sh`
-Raw setup metadata is in:
-- `environment/upstream_revisions.txt`
-- `environment/system_packages_same_machine.txt`
-- `environment/rlbench_env_export.yaml`
-- `environment/rlbench_env_explicit.txt`
-- `environment/rlbench_pip_freeze.txt`
-- `environment/reveal_env_export.yaml`
-- `environment/reveal_env_explicit.txt`
-- `environment/reveal_pip_freeze.txt`

 # VLAarchtests
+Bundle uploaded from the `/workspace` runpod session dated `2026-03-25 UTC`.
+## Top-Level Contents
 - `code/reveal_vla_bimanual/`
+  - current project code
+- `artifacts/outputs/r3d/`
+  - R3D-VLA proxy checkpoints, benchmarks, diagnostics, RLBench outputs, and PerAct2 smoke artifacts
+- `regression/baselines.md`
+  - locked historical baselines from the downloaded snapshot
+- `results/phase_tracking.md`
+  - phase-by-phase gate accounting and acceptance status
+- `tests/`
+  - unit tests for RGB, RGB-D, planner, memory, world-model, and dataset contracts
 - `environment/`
+  - same-machine setup helpers, env exports, runtime env vars, hardware snapshot, and upstream revision notes
 - `MODEL_INDEX.md`
+  - checkpoint/result index for the current R3D bundle
+## Work Completed In This Bundle
+### Architecture and Training Changes
+- Added the repo-preserving R3D-VLA refactor with updates in:
+  - `code/reveal_vla_bimanual/models/backbones.py`
+  - `code/reveal_vla_bimanual/models/multiview_fusion.py`
+  - `code/reveal_vla_bimanual/models/observation_memory.py`
+  - `code/reveal_vla_bimanual/models/reveal_head.py`
+  - `code/reveal_vla_bimanual/models/world_model.py`
+  - `code/reveal_vla_bimanual/models/action_decoder.py`
+  - `code/reveal_vla_bimanual/models/planner.py`
+  - `code/reveal_vla_bimanual/models/policy.py`
+  - `code/reveal_vla_bimanual/train/losses.py`
+  - `code/reveal_vla_bimanual/train/smoke_checks.py`
+  - `code/reveal_vla_bimanual/sim_reveal/dataset.py`
+  - `code/reveal_vla_bimanual/sim_reveal/procedural_envs.py`
+- Added new configs:
+  - `proxy_interaction_r3d_stage1_dummy.yaml`
+  - `proxy_interaction_r3d_stage1_clip.yaml`
+  - `proxy_interaction_r3d_stage2_dummy.yaml`
+  - `proxy_interaction_r3d_stage2_clip.yaml`
+  - `proxy_interaction_r3d_stage3_clip_rgbd.yaml`
+  - `proxy_interaction_r3d_ablation_nodepth.yaml`
+  - `proxy_interaction_r3d_ablation_noplanner.yaml`
+  - `proxy_interaction_r3d_ablation_nowm.yaml`
+  - `proxy_interaction_r3d_ablation_norolesym.yaml`
+### Evaluation and Integration Changes
+- Completed the requested proxy matrix:
+  - stage 1 dummy, 3 seeds
+  - stage 1 dummy `no_planner`
+  - stage 1 dummy `no_role_symmetry`
+  - stage 2 dummy, 3 seeds
+  - stage 2 dummy `no_world_model`
+  - stage 2 dummy `short_history`
+  - stage 1 clip, 3 seeds
+  - stage 2 clip, 3 seeds
+  - stage 3 clip RGB-D, 3 seeds
+  - stage 3 clip RGB-D `no_depth`
+- Completed RLBench integration artifacts:
+  - import/config smoke
+  - `open_drawer` launch smoke
+  - `open_drawer` rollout with JSON output
+- Added a dedicated PerAct2 13-task launch smoke harness:
+  - `code/reveal_vla_bimanual/eval/run_peract2_launch_smoke.py`
+  - `code/reveal_vla_bimanual/sim_rlbench/launch_smoke.py` now records finite-action checks
+### Tests
+- Full local test suite result:
+  - `10 passed`
 ## Same-Machine Setup Files
 - `environment/setup_same_machine.sh`
 - `environment/validate_same_machine.sh`
 - `environment/run_peract2_13_rollouts.sh`
+- `environment/runtime_env_vars.sh`
+- `environment/hardware_snapshot.txt`
+- `environment/glxinfo_B.txt`
 - `environment/upstream_revisions.txt`
+- `environment/system_packages_same_machine.txt`
 - `environment/rlbench_env_export.yaml`
 - `environment/rlbench_env_explicit.txt`
 - `environment/rlbench_pip_freeze.txt`
 - `environment/reveal_env_explicit.txt`
 - `environment/reveal_pip_freeze.txt`
+## Raw Proxy Benchmark Matrix
+| Run | Seeds | Mean success | foliage | bag | cloth | Reocclusion | Persistence MAE | Disturbance | Planner top-1 | Proposal diversity | Swap error |
+| --- | --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
+| stage1 dummy full | `13,14,15` | 0.5787 | 0.4444 | 0.6111 | 0.6806 | 0.0000 | 1.9553 | 0.3649 | 0.2832 | 0.0245 | 0.007680 |
+| stage1 dummy `no_planner` | `13,14,15` | 0.5648 | 0.4306 | 0.5972 | 0.6667 | 0.0000 | 1.9599 | 0.3765 | n/a | n/a | n/a |
+| stage1 dummy `no_role_symmetry` | `13,14,15` | 0.5833 | 0.4583 | 0.6111 | 0.6806 | 0.0000 | 1.9475 | 0.3547 | n/a | n/a | n/a |
+| stage2 dummy full | `21,22,23` | 0.5463 | 0.4444 | 0.5417 | 0.6528 | 0.0121 | 2.2358 | 0.3148 | 0.3442 | 0.0245 | 0.005036 |
+| stage2 dummy `no_world_model` | `21,22,23` | 0.5463 | 0.4444 | 0.5417 | 0.6528 | 0.0027 | 2.3600 | 0.3287 | n/a | n/a | n/a |
+| stage2 dummy `short_history` | `21,22,23` | 0.5463 | 0.4444 | 0.5417 | 0.6528 | 0.0121 | 2.2349 | 0.3148 | n/a | n/a | n/a |
+| stage1 clip full | `7,8,9` | 0.5324 | 0.4306 | 0.5278 | 0.6389 | 0.0244 | 1.3636 | 0.2808 | 0.2676 | 0.0217 | 0.000155 |
+| stage2 clip full | `11,12,13` | 0.4954 | 0.3889 | 0.4583 | 0.6389 | 0.0117 | 2.3198 | 0.2722 | 0.2693 | 0.0216 | 0.000186 |
+| stage3 clip RGB-D full | `17,18,19` | 0.5741 | 0.4861 | 0.5417 | 0.6944 | 0.0151 | 1.7883 | 0.2258 | 0.3265 | 0.0270 | 0.000094 |
+| stage3 clip RGB-D `no_depth` | `17,18,19` | 0.5231 | 0.4167 | 0.4722 | 0.6806 | 0.0198 | 2.0491 | 0.2548 | n/a | n/a | n/a |
+Full artifact roots are indexed in `MODEL_INDEX.md`.
+## Raw Training Summaries
+| Run | Mean train time (s) | Mean peak GPU memory (MB) |
+| --- | ---: | ---: |
+| stage1 dummy full | 20.45 | 629.62 |
+| stage2 dummy full | 20.76 | 639.39 |
+| stage1 clip full | 156.16 | 1908.92 |
+| stage2 clip full | 141.55 | 1902.54 |
+| stage3 clip RGB-D full | 145.93 | 1952.12 |
 ## Raw RLBench Outputs
+### Import And Launch Smokes
+- import/config smoke file:
+  - `artifacts/outputs/r3d/rlbench_smokes/smoke_test_output.txt`
+- `open_drawer` launch smoke files:
+  - `artifacts/outputs/r3d/rlbench_smokes/launch_smoke_open_drawer.txt`
+  - `artifacts/outputs/r3d/rlbench_smokes/launch_smoke_open_drawer.stderr`
+Raw values from the current `open_drawer` launch smoke:
+| Field | Value |
+| --- | --- |
+| task | `RightOpenDrawer` |
+| headless | `true` |
+| front_rgb_shape | `[224, 224, 3]` |
+| wrist_left_rgb_shape | `[224, 224, 3]` |
+| wrist_right_rgb_shape | `[224, 224, 3]` |
+| action_finite | `true` |
+| action_dim | `18` |
+| reward | `0.0` |
+| done | `false` |
+### Open-Drawer Rollout
+File:
+- `artifacts/outputs/r3d/rlbench_open_drawer_r3d_rollout/rollout_eval.json`
+Raw values:
+| Field | Value |
+| --- | --- |
+| plan_requested | `true` |
+| plan_applied | `true` |
+| task_class | `RightOpenDrawer` |
+| episodes_per_task | `1` |
+| episode_length | `5` |
+| mean_success | `0.0` |
+| mean_return | `0.0` |
+| reset_retries | `[0]` |
+## Raw PerAct2 Integration Output
+Files:
+- `artifacts/outputs/r3d/peract2_13_launch_smoke/launch_smoke_summary.json`
+- `artifacts/outputs/r3d/peract2_13_launch_smoke/launch_smoke_summary.md`
+Raw values:
+| Field | Value |
+| --- | --- |
+| task_count | `13` |
+| launch_successes | `13` |
+| finite_action_tasks | `13` |
+| error_tasks | `[]` |
+| resolution | `224` |
+| headless | `true` |
+Per-task stdout/stderr/command logs are stored under:
+- `artifacts/outputs/r3d/peract2_13_launch_smoke/`
+## Additional Indexes
+- Historical baseline note:
+  - `regression/baselines.md`
+- Phase-by-phase gate tracking:
+  - `results/phase_tracking.md`
+- Checkpoint and artifact index:
+  - `MODEL_INDEX.md`

environment/glxinfo_B.txt CHANGED Viewed

@@ -4,19 +4,19 @@ direct rendering: Yes
 Memory info (GL_NVX_gpu_memory_info):
     Dedicated video memory: 49140 MB
     Total available memory: 49140 MB
-    Currently available dedicated video memory: 48598 MB
 OpenGL vendor string: NVIDIA Corporation
 OpenGL renderer string: NVIDIA RTX 6000 Ada Generation/PCIe/SSE2
-OpenGL core profile version string: 4.6.0 NVIDIA 550.127.05
 OpenGL core profile shading language version string: 4.60 NVIDIA
 OpenGL core profile context flags: (none)
 OpenGL core profile profile mask: core profile
-OpenGL version string: 4.6.0 NVIDIA 550.127.05
 OpenGL shading language version string: 4.60 NVIDIA
 OpenGL context flags: (none)
 OpenGL profile mask: (none)
-OpenGL ES profile version string: OpenGL ES 3.2 NVIDIA 550.127.05
 OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20

 Memory info (GL_NVX_gpu_memory_info):
     Dedicated video memory: 49140 MB
     Total available memory: 49140 MB
+    Currently available dedicated video memory: 48469 MB
 OpenGL vendor string: NVIDIA Corporation
 OpenGL renderer string: NVIDIA RTX 6000 Ada Generation/PCIe/SSE2
+OpenGL core profile version string: 4.6.0 NVIDIA 570.172.08
 OpenGL core profile shading language version string: 4.60 NVIDIA
 OpenGL core profile context flags: (none)
 OpenGL core profile profile mask: core profile
+OpenGL version string: 4.6.0 NVIDIA 570.172.08
 OpenGL shading language version string: 4.60 NVIDIA
 OpenGL context flags: (none)
 OpenGL profile mask: (none)
+OpenGL ES profile version string: OpenGL ES 3.2 NVIDIA 570.172.08
 OpenGL ES profile shading language version string: OpenGL ES GLSL ES 3.20

environment/hardware_snapshot.txt CHANGED Viewed

@@ -1,36 +1,64 @@
-UTC_DATE=2026-03-23T18:46:00Z
-UNAME
-Linux c36959bce5da 6.8.0-52-generic #53~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Wed Jan 15 19:18:46 UTC 2 x86_64 x86_64 x86_64 GNU/Linux
-LSCPU
 Architecture:                         x86_64
 CPU op-mode(s):                       32-bit, 64-bit
-Address sizes:                        48 bits physical, 48 bits virtual
 Byte Order:                           Little Endian
-CPU(s):                               128
-On-line CPU(s) list:                  0-127
 Vendor ID:                            AuthenticAMD
-Model name:                           AMD EPYC 75F3 32-Core Processor
 CPU family:                           25
-Model:                                1
-Thread(s) per core:                   2
-Core(s) per socket:                   32
 Socket(s):                            2
 Stepping:                             1
 Frequency boost:                      enabled
-CPU max MHz:                          4041.8450
 CPU min MHz:                          1500.0000
-BogoMIPS:                             5900.00
-Flags:                                fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush mmx fxsr sse sse2 ht syscall nx mmxext fxsr_opt pdpe1gb rdtscp lm constant_tsc rep_good nopl nonstop_tsc cpuid extd_apicid aperfmperf rapl pni pclmulqdq monitor ssse3 fma cx16 pcid sse4_1 sse4_2 movbe popcnt aes xsave avx f16c rdrand lahf_lm cmp_legacy svm extapic cr8_legacy abm sse4a misalignsse 3dnowprefetch osvw ibs skinit wdt tce topoext perfctr_core perfctr_nb bpext perfctr_llc mwaitx cpb cat_l3 cdp_l3 hw_pstate ssbd mba ibrs ibpb stibp vmmcall fsgsbase bmi1 avx2 smep bmi2 invpcid cqm rdt_a rdseed adx smap clflushopt clwb sha_ni xsaveopt xsavec xgetbv1 xsaves cqm_llc cqm_occup_llc cqm_mbm_total cqm_mbm_local user_shstk clzero irperf xsaveerptr rdpru wbnoinvd amd_ppin brs arat npt lbrv svm_lock nrip_save tsc_scale vmcb_clean flushbyasid decodeassists pausefilter pfthreshold v_vmsave_vmload vgif v_spec_ctrl umip pku ospke vaes vpclmulqdq rdpid overflow_recov succor smca debug_swap
 Virtualization:                       AMD-V
-L1d cache:                            2 MiB (64 instances)
-L1i cache:                            2 MiB (64 instances)
-L2 cache:                             32 MiB (64 instances)
-L3 cache:                             512 MiB (16 instances)
 NUMA node(s):                         2
-NUMA node0 CPU(s):                    0-31,64-95
-NUMA node1 CPU(s):                    32-63,96-127
 Vulnerability Gather data sampling:   Not affected
 Vulnerability Itlb multihit:          Not affected
 Vulnerability L1tf:                   Not affected
@@ -42,35 +70,6 @@ Vulnerability Retbleed:               Not affected
 Vulnerability Spec rstack overflow:   Mitigation; Safe RET
 Vulnerability Spec store bypass:      Mitigation; Speculative Store Bypass disabled via prctl
 Vulnerability Spectre v1:             Mitigation; usercopy/swapgs barriers and __user pointer sanitization
-Vulnerability Spectre v2:             Mitigation; Retpolines; IBPB conditional; IBRS_FW; STIBP always-on; RSB filling; PBRSB-eIBRS Not affected; BHI Not affected
 Vulnerability Srbds:                  Not affected
 Vulnerability Tsx async abort:        Not affected
-FREE
-               total        used        free      shared  buff/cache   available
-Mem:           503Gi        54Gi       185Gi       512Mi       263Gi       443Gi
-Swap:             0B          0B          0B
-NVIDIA_SMI_L
-GPU 0: NVIDIA RTX 6000 Ada Generation (UUID: GPU-c6807b50-90eb-199d-3f71-256fb12947e2)
-NVIDIA_SMI
-Mon Mar 23 18:46:00 2026
-+-----------------------------------------------------------------------------------------+
-| NVIDIA-SMI 550.127.05             Driver Version: 550.127.05     CUDA Version: 12.4     |
-|-----------------------------------------+------------------------+----------------------+
-| GPU  Name                 Persistence-M | Bus-Id          Disp.A | Volatile Uncorr. ECC |
-| Fan  Temp   Perf          Pwr:Usage/Cap |           Memory-Usage | GPU-Util  Compute M. |
-|                                         |                        |               MIG M. |
-|=========================================+========================+======================|
-|   0  NVIDIA RTX 6000 Ada Gene...    On  |   00000000:01:00.0 Off |                  Off |
-| 30%   35C    P0             38W /  300W |      32MiB /  49140MiB |      0%      Default |
-|                                         |                        |                  N/A |
-+-----------------------------------------+------------------------+----------------------+
-+-----------------------------------------------------------------------------------------+
-| Processes:                                                                              |
-|  GPU   GI   CI        PID   Type   Process name                              GPU Memory |
-|        ID   ID                                                               Usage      |
-|=========================================================================================|
-+-----------------------------------------------------------------------------------------+

+Date: 2026-03-25 UTC
+Hostname:
+48e939439089
+---
+uname -a
+Linux 48e939439089 6.8.0-84-generic #84-Ubuntu SMP PREEMPT_DYNAMIC Fri Sep  5 22:36:38 UTC 2025 x86_64 x86_64 x86_64 GNU/Linux
+---
+nvidia-smi -L
+GPU 0: NVIDIA RTX 6000 Ada Generation (UUID: GPU-399427d8-38da-2cbf-4e8d-18fed75a2b95)
+---
+nvidia-smi
+Wed Mar 25 01:36:48 2026
++-----------------------------------------------------------------------------------------+
+| NVIDIA-SMI 570.172.08             Driver Version: 570.172.08     CUDA Version: 12.8     |
+|-----------------------------------------+------------------------+----------------------+
+| GPU  Name                 Persistence-M | Bus-Id          Disp.A | Volatile Uncorr. ECC |
+| Fan  Temp   Perf          Pwr:Usage/Cap |           Memory-Usage | GPU-Util  Compute M. |
+|                                         |                        |               MIG M. |
+|=========================================+========================+======================|
+|   0  NVIDIA RTX 6000 Ada Gene...    On  |   00000000:C6:00.0 Off |                  Off |
+| 30%   37C    P8             22W /  300W |      48MiB /  49140MiB |      0%      Default |
+|                                         |                        |                  N/A |
++-----------------------------------------+------------------------+----------------------+
++-----------------------------------------------------------------------------------------+
+| Processes:                                                                              |
+|  GPU   GI   CI              PID   Type   Process name                        GPU Memory |
+|        ID   ID                                                               Usage      |
+|=========================================================================================|
+|    0   N/A  N/A           58358      G   /usr/lib/xorg/Xorg                       37MiB |
+|    0   N/A  N/A           58358      G   /usr/lib/xorg/Xorg                       37MiB |
++-----------------------------------------------------------------------------------------+
+---
+lscpu
 Architecture:                         x86_64
 CPU op-mode(s):                       32-bit, 64-bit
+Address sizes:                        52 bits physical, 57 bits virtual
 Byte Order:                           Little Endian
+CPU(s):                               192
+On-line CPU(s) list:                  0-191
 Vendor ID:                            AuthenticAMD
+Model name:                           AMD EPYC 9654 96-Core Emb Processor
 CPU family:                           25
+Model:                                17
+Thread(s) per core:                   1
+Core(s) per socket:                   96
 Socket(s):                            2
 Stepping:                             1
 Frequency boost:                      enabled
+CPU max MHz:                          2400.0000
 CPU min MHz:                          1500.0000
+BogoMIPS:                             4799.87
+Flags:                                fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush mmx fxsr sse sse2 ht syscall nx mmxext fxsr_opt pdpe1gb rdtscp lm constant_tsc rep_good amd_lbr_v2 nopl nonstop_tsc cpuid extd_apicid aperfmperf rapl pni pclmulqdq monitor ssse3 fma cx16 pcid sse4_1 sse4_2 movbe popcnt aes xsave avx f16c rdrand lahf_lm cmp_legacy svm extapic cr8_legacy abm sse4a misalignsse 3dnowprefetch osvw ibs skinit wdt tce topoext perfctr_core perfctr_nb bpext perfctr_llc mwaitx cpb cat_l3 cdp_l3 hw_pstate ssbd mba perfmon_v2 ibrs ibpb stibp ibrs_enhanced vmmcall fsgsbase bmi1 avx2 smep bmi2 erms invpcid cqm rdt_a avx512f avx512dq rdseed adx smap avx512ifma clflushopt clwb avx512cd sha_ni avx512bw avx512vl xsaveopt xsavec xgetbv1 xsaves cqm_llc cqm_occup_llc cqm_mbm_total cqm_mbm_local user_shstk avx512_bf16 clzero irperf xsaveerptr rdpru wbnoinvd amd_ppin cppc amd_ibpb_ret arat npt lbrv svm_lock nrip_save tsc_scale vmcb_clean flushbyasid decodeassists pausefilter pfthreshold avic v_vmsave_vmload vgif x2avic v_spec_ctrl vnmi avx512vbmi umip pku ospke avx512_vbmi2 gfni vaes vpclmulqdq avx512_vnni avx512_bitalg avx512_vpopcntdq la57 rdpid overflow_recov succor smca fsrm flush_l1d debug_swap
 Virtualization:                       AMD-V
+L1d cache:                            6 MiB (192 instances)
+L1i cache:                            6 MiB (192 instances)
+L2 cache:                             192 MiB (192 instances)
+L3 cache:                             768 MiB (24 instances)
 NUMA node(s):                         2
+NUMA node0 CPU(s):                    0-95
+NUMA node1 CPU(s):                    96-191
 Vulnerability Gather data sampling:   Not affected
 Vulnerability Itlb multihit:          Not affected
 Vulnerability L1tf:                   Not affected
 Vulnerability Spec rstack overflow:   Mitigation; Safe RET
 Vulnerability Spec store bypass:      Mitigation; Speculative Store Bypass disabled via prctl
 Vulnerability Spectre v1:             Mitigation; usercopy/swapgs barriers and __user pointer sanitization
+Vulnerability Spectre v2:             Mitigation; Enhanced / Automatic IBRS; IBPB conditional; STIBP disabled; RSB filling; PBRSB-eIBRS Not affected; BHI Not affected
 Vulnerability Srbds:                  Not affected
 Vulnerability Tsx async abort:        Not affected

environment/reveal_env_explicit.txt CHANGED Viewed

@@ -1,327 +1,3 @@
-List of packages in environment: "/workspace/envs/reveal"
-https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-7_kmp_llvm.conda
-https://conda.anaconda.org/conda-forge/linux-64/alsa-lib-1.2.15.3-hb03c661_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/aom-3.9.1-hac33072_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.2-hb03c661_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/backports.zstd-1.3.0-py310h69bd2ac_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/binutils_impl_linux-64-2.45.1-default_hfdba357_102.conda
-https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45.1-default_h4852527_102.conda
-https://conda.anaconda.org/conda-forge/linux-64/blas-2.108-mkl.tar.bz2
-https://conda.anaconda.org/conda-forge/linux-64/blas-devel-3.9.0-8_mkl.tar.bz2
-https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-hed03a55_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.2.0-hb03c661_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.2.0-py310hba01987_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hda65f42_9.conda
-https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.6-hb03c661_0.conda
-https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.2.25-hbd8a1cb_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.4-he90730b_1.conda
-https://conda.anaconda.org/conda-forge/noarch/certifi-2026.2.25-pyhd8ed1ab_0.conda
-https://conda.anaconda.org/conda-forge/noarch/charset-normalizer-3.4.6-pyhd8ed1ab_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/cmake-4.3.0-hc85cc9f_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.2-py310h3788b33_0.conda
-https://conda.anaconda.org/conda-forge/noarch/cpython-3.10.20-py310hd8ed1ab_0.conda
-https://conda.anaconda.org/nvidia/linux-64/cuda-cudart-12.1.105-0.tar.bz2
-https://conda.anaconda.org/nvidia/linux-64/cuda-cupti-12.1.105-0.tar.bz2
-https://conda.anaconda.org/nvidia/linux-64/cuda-libraries-12.1.0-0.tar.bz2
-https://conda.anaconda.org/nvidia/linux-64/cuda-nvrtc-12.1.105-0.tar.bz2
-https://conda.anaconda.org/nvidia/linux-64/cuda-nvtx-12.1.105-0.tar.bz2
-https://conda.anaconda.org/nvidia/linux-64/cuda-opencl-12.9.19-0.conda
-https://conda.anaconda.org/nvidia/linux-64/cuda-runtime-12.1.0-0.tar.bz2
-https://conda.anaconda.org/nvidia/noarch/cuda-version-12.9-3.conda
-https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhcf101f3_2.conda
-https://conda.anaconda.org/conda-forge/linux-64/cyrus-sasl-2.1.28-hac629b4_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/dbus-1.16.2-h24cb091_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/ffmpeg-8.0.1-gpl_he74fc74_714.conda
-https://conda.anaconda.org/conda-forge/noarch/filelock-3.25.2-pyhd8ed1ab_0.conda
-https://conda.anaconda.org/conda-forge/noarch/font-ttf-dejavu-sans-mono-2.37-hab24e00_0.tar.bz2
-https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
-https://conda.anaconda.org/conda-forge/noarch/font-ttf-source-code-pro-2.038-h77eed37_0.tar.bz2
-https://conda.anaconda.org/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_3.conda
-https://conda.anaconda.org/conda-forge/linux-64/fontconfig-2.17.1-h27c8c51_0.conda
-https://conda.anaconda.org/conda-forge/noarch/fonts-conda-ecosystem-1-0.tar.bz2
-https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-hc364b38_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/fonttools-4.62.0-py310h3406613_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/freetype-2.14.2-ha770c72_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/fribidi-1.0.16-hb03c661_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-15.2.0-he420e7e_18.conda
-https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-15.2.0-h862fb80_21.conda
-https://conda.anaconda.org/conda-forge/linux-64/gdk-pixbuf-2.44.5-h2b0a6b4_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/git-2.53.0-pl5321h6d3cee1_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/glib-2.86.4-h5192d8d_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/glib-tools-2.86.4-hf516916_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/glslang-16.2.0-h96af755_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/gmp-6.3.0-hac33072_2.conda
-https://conda.anaconda.org/conda-forge/linux-64/gmpy2-2.3.0-py310h63ebcad_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/graphite2-1.3.14-hecca717_2.conda
-https://conda.anaconda.org/conda-forge/linux-64/gst-plugins-base-1.26.10-h0363672_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/gstreamer-1.26.10-h17cb667_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-15.2.0-hda75c37_18.conda
-https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-15.2.0-h1fb793f_21.conda
-https://conda.anaconda.org/conda-forge/noarch/h2-4.3.0-pyhcf101f3_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/harfbuzz-13.2.1-h6083320_0.conda
-https://conda.anaconda.org/conda-forge/noarch/hpack-4.1.0-pyhd8ed1ab_0.conda
-https://conda.anaconda.org/conda-forge/noarch/hyperframe-6.1.0-pyhd8ed1ab_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/icu-78.3-h33c6efd_0.conda
-https://conda.anaconda.org/conda-forge/noarch/idna-3.11-pyhd8ed1ab_0.conda
-https://conda.anaconda.org/conda-forge/noarch/imageio-2.37.0-pyhfb79c49_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/intel-gmmlib-22.9.0-hb700be7_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/intel-media-driver-26.1.5-hecca717_0.conda
-https://conda.anaconda.org/conda-forge/noarch/jinja2-3.1.6-pyhcf101f3_1.conda
-https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-5.14.0-he073ed8_3.conda
-https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.3-hb9d3cd8_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/kiwisolver-1.5.0-py310haaf941d_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/krb5-1.22.2-ha1258a1_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/lame-3.100-h166bdaf_1003.tar.bz2
-https://conda.anaconda.org/conda-forge/linux-64/lcms2-2.18-h0c24ade_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.45.1-default_hbd61a6d_102.conda
-https://conda.anaconda.org/conda-forge/linux-64/lerc-4.1.0-hdb68285_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/level-zero-1.28.2-hb700be7_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libabseil-20260107.1-cxx17_h7b12aa8_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libass-0.17.4-h96ad9f0_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libattr-2.5.2-hb03c661_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/libblas-3.9.0-8_mkl.tar.bz2
-https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.2.0-hb03c661_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.2.0-hb03c661_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.2.0-hb03c661_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/libcap-2.77-h3ff7636_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.9.0-8_mkl.tar.bz2
-https://conda.anaconda.org/conda-forge/linux-64/libclang-cpp22.1-22.1.0-default_h99862b1_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libclang13-22.1.0-default_h746c552_0.conda
-https://conda.anaconda.org/nvidia/linux-64/libcublas-12.1.0.26-0.tar.bz2
-https://conda.anaconda.org/nvidia/linux-64/libcufft-11.0.2.4-0.tar.bz2
-https://conda.anaconda.org/nvidia/linux-64/libcufile-1.14.1.1-4.conda
-https://conda.anaconda.org/conda-forge/linux-64/libcups-2.3.3-h7a8fb5f_6.conda
-https://conda.anaconda.org/nvidia/linux-64/libcurand-10.3.10.19-0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.19.0-hcf29cc6_0.conda
-https://conda.anaconda.org/nvidia/linux-64/libcusolver-11.4.4.55-0.tar.bz2
-https://conda.anaconda.org/nvidia/linux-64/libcusparse-12.0.2.55-0.tar.bz2
-https://conda.anaconda.org/conda-forge/linux-64/libdeflate-1.25-h17f619e_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libdrm-2.4.125-hb03c661_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/libedit-3.1.20250104-pl5321h7949ede_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libegl-1.7.0-ha4b6fd6_2.conda
-https://conda.anaconda.org/conda-forge/linux-64/libev-4.33-hd590300_2.conda
-https://conda.anaconda.org/conda-forge/linux-64/libevent-2.1.12-hf998b51_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.7.4-hecca717_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libffi-3.5.2-h3435931_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libflac-1.5.0-he200343_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/libfreetype-2.14.2-ha770c72_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libfreetype6-2.14.2-h73754d4_0.conda
-https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_18.conda
-https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-15.2.0-hcc6f6b0_118.conda
-https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-15.2.0-h69a702a_18.conda
-https://conda.anaconda.org/conda-forge/linux-64/libgfortran-15.2.0-h69a702a_18.conda
-https://conda.anaconda.org/conda-forge/linux-64/libgfortran-ng-15.2.0-h69a702a_18.conda
-https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-15.2.0-h68bc16d_18.conda
-https://conda.anaconda.org/conda-forge/linux-64/libgl-1.7.0-ha4b6fd6_2.conda
-https://conda.anaconda.org/conda-forge/linux-64/libglib-2.86.4-h6548e54_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/libglvnd-1.7.0-ha4b6fd6_2.conda
-https://conda.anaconda.org/conda-forge/linux-64/libglx-1.7.0-ha4b6fd6_2.conda
-https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_18.conda
-https://conda.anaconda.org/conda-forge/linux-64/libhwloc-2.12.2-default_hafda6a7_1000.conda
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+python=3.11.10
+venv=/workspace/venv_r3d
+requirements=environment/reveal_pip_freeze.txt

environment/reveal_env_export.yaml CHANGED Viewed

@@ -1,335 +1,2 @@
-name:
-channels:
-  - conda-forge
-  - nvidia
-  - pytorch
-dependencies:
-  - _openmp_mutex=4.5=7_kmp_llvm
-  - alsa-lib=1.2.15.3=hb03c661_0
-  - aom=3.9.1=hac33072_0
-  - attr=2.5.2=hb03c661_1
-  - backports.zstd=1.3.0=py310h69bd2ac_0
-  - binutils_impl_linux-64=2.45.1=default_hfdba357_102
-  - binutils_linux-64=2.45.1=default_h4852527_102
-  - blas=2.108=mkl
-  - blas-devel=3.9.0=8_mkl
-  - brotli=1.2.0=hed03a55_1
-  - brotli-bin=1.2.0=hb03c661_1
-  - brotli-python=1.2.0=py310hba01987_1
-  - bzip2=1.0.8=hda65f42_9
-  - c-ares=1.34.6=hb03c661_0
-  - ca-certificates=2026.2.25=hbd8a1cb_0
-  - cairo=1.18.4=he90730b_1
-  - certifi=2026.2.25=pyhd8ed1ab_0
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-  - cmake=4.3.0=hc85cc9f_0
-  - contourpy=1.3.2=py310h3788b33_0
-  - cpython=3.10.20=py310hd8ed1ab_0
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-  - cuda-cupti=12.1.105=0
-  - cuda-libraries=12.1.0=0
-  - cuda-nvrtc=12.1.105=0
-  - cuda-nvtx=12.1.105=0
-  - cuda-opencl=12.9.19=0
-  - cuda-runtime=12.1.0=0
-  - cuda-version=12.9=3
-  - cycler=0.12.1=pyhcf101f3_2
-  - cyrus-sasl=2.1.28=hac629b4_1
-  - dav1d=1.2.1=hd590300_0
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-  - font-ttf-inconsolata=3.000=h77eed37_0
-  - font-ttf-source-code-pro=2.038=h77eed37_0
-  - font-ttf-ubuntu=0.83=h77eed37_3
-  - fontconfig=2.17.1=h27c8c51_0
-  - fonts-conda-ecosystem=1=0
-  - fonts-conda-forge=1=hc364b38_1
-  - fonttools=4.62.0=py310h3406613_0
-  - freetype=2.14.2=ha770c72_0
-  - fribidi=1.0.16=hb03c661_0
-  - gcc_impl_linux-64=15.2.0=he420e7e_18
-  - gcc_linux-64=15.2.0=h862fb80_21
-  - gdk-pixbuf=2.44.5=h2b0a6b4_1
-  - git=2.53.0=pl5321h6d3cee1_0
-  - glib=2.86.4=h5192d8d_1
-  - glib-tools=2.86.4=hf516916_1
-  - glslang=16.2.0=h96af755_1
-  - gmp=6.3.0=hac33072_2
-  - gmpy2=2.3.0=py310h63ebcad_1
-  - graphite2=1.3.14=hecca717_2
-  - gst-plugins-base=1.26.10=h0363672_0
-  - gstreamer=1.26.10=h17cb667_0
-  - gxx_impl_linux-64=15.2.0=hda75c37_18
-  - gxx_linux-64=15.2.0=h1fb793f_21
-  - h2=4.3.0=pyhcf101f3_0
-  - harfbuzz=13.2.1=h6083320_0
-  - hpack=4.1.0=pyhd8ed1ab_0
-  - hyperframe=6.1.0=pyhd8ed1ab_0
-  - icu=78.3=h33c6efd_0
-  - idna=3.11=pyhd8ed1ab_0
-  - imageio=2.37.0=pyhfb79c49_0
-  - intel-gmmlib=22.9.0=hb700be7_0
-  - intel-media-driver=26.1.5=hecca717_0
-  - jinja2=3.1.6=pyhcf101f3_1
-  - kernel-headers_linux-64=5.14.0=he073ed8_3
-  - keyutils=1.6.3=hb9d3cd8_0
-  - kiwisolver=1.5.0=py310haaf941d_0
-  - krb5=1.22.2=ha1258a1_0
-  - lame=3.100=h166bdaf_1003
-  - lcms2=2.18=h0c24ade_0
-  - ld_impl_linux-64=2.45.1=default_hbd61a6d_102
-  - lerc=4.1.0=hdb68285_0
-  - level-zero=1.28.2=hb700be7_0
-  - libabseil=20260107.1=cxx17_h7b12aa8_0
-  - libass=0.17.4=h96ad9f0_0
-  - libattr=2.5.2=hb03c661_1
-  - libblas=3.9.0=8_mkl
-  - libbrotlicommon=1.2.0=hb03c661_1
-  - libbrotlidec=1.2.0=hb03c661_1
-  - libbrotlienc=1.2.0=hb03c661_1
-  - libcap=2.77=h3ff7636_0
-  - libcblas=3.9.0=8_mkl
-  - libclang-cpp22.1=22.1.0=default_h99862b1_0
-  - libclang13=22.1.0=default_h746c552_0
-  - libcublas=12.1.0.26=0
-  - libcufft=11.0.2.4=0
-  - libcufile=1.14.1.1=4
-  - libcups=2.3.3=h7a8fb5f_6
-  - libcurand=10.3.10.19=0
-  - libcurl=8.19.0=hcf29cc6_0
-  - libcusolver=11.4.4.55=0
-  - libcusparse=12.0.2.55=0
-  - libdeflate=1.25=h17f619e_0
-  - libdrm=2.4.125=hb03c661_1
-  - libedit=3.1.20250104=pl5321h7949ede_0
-  - libegl=1.7.0=ha4b6fd6_2
-  - libev=4.33=hd590300_2
-  - libevent=2.1.12=hf998b51_1
-  - libexpat=2.7.4=hecca717_0
-  - libffi=3.5.2=h3435931_0
-  - libflac=1.5.0=he200343_1
-  - libfreetype=2.14.2=ha770c72_0
-  - libfreetype6=2.14.2=h73754d4_0
-  - libgcc=15.2.0=he0feb66_18
-  - libgcc-devel_linux-64=15.2.0=hcc6f6b0_118
-  - libgcc-ng=15.2.0=h69a702a_18
-  - libgfortran=15.2.0=h69a702a_18
-  - libgfortran-ng=15.2.0=h69a702a_18
-  - libgfortran5=15.2.0=h68bc16d_18
-  - libgl=1.7.0=ha4b6fd6_2
-  - libglib=2.86.4=h6548e54_1
-  - libglvnd=1.7.0=ha4b6fd6_2
-  - libglx=1.7.0=ha4b6fd6_2
-  - libgomp=15.2.0=he0feb66_18
-  - libhwloc=2.12.2=default_hafda6a7_1000
-  - libhwy=1.3.0=h4c17acf_1
-  - libiconv=1.18=h3b78370_2
-  - libjpeg-turbo=3.1.2=hb03c661_0
-  - libjxl=0.11.2=ha09017c_0
-  - liblapack=3.9.0=8_mkl
-  - liblapacke=3.9.0=8_mkl
-  - libllvm22=22.1.1=hf7376ad_0
-  - liblzma=5.8.2=hb03c661_0
-  - libnghttp2=1.68.1=h877daf1_0
-  - libnpp=12.0.2.50=0
-  - libnsl=2.0.1=hb9d3cd8_1
-  - libntlm=1.8=hb9d3cd8_0
-  - libnvjitlink=12.1.105=0
-  - libnvjpeg=12.1.1.14=0
-  - libogg=1.3.5=hd0c01bc_1
-  - libopengl=1.7.0=ha4b6fd6_2
-  - libopenvino=2026.0.0=hb56ce9e_1
-  - libopenvino-auto-batch-plugin=2026.0.0=hd85de46_1
-  - libopenvino-auto-plugin=2026.0.0=hd85de46_1
-  - libopenvino-hetero-plugin=2026.0.0=hd41364c_1
-  - libopenvino-intel-cpu-plugin=2026.0.0=hb56ce9e_1
-  - libopenvino-intel-gpu-plugin=2026.0.0=hb56ce9e_1
-  - libopenvino-intel-npu-plugin=2026.0.0=hb56ce9e_1
-  - libopenvino-ir-frontend=2026.0.0=hd41364c_1
-  - libopenvino-onnx-frontend=2026.0.0=h7a07914_1
-  - libopenvino-paddle-frontend=2026.0.0=h7a07914_1
-  - libopenvino-pytorch-frontend=2026.0.0=hecca717_1
-  - libopenvino-tensorflow-frontend=2026.0.0=h78e8023_1
-  - libopenvino-tensorflow-lite-frontend=2026.0.0=hecca717_1
-  - libopus=1.6.1=h280c20c_0
-  - libpciaccess=0.18=hb9d3cd8_0
-  - libpng=1.6.55=h421ea60_0
-  - libpq=18.3=h9abb657_0
-  - libprotobuf=6.33.5=h2b00c02_0
-  - librsvg=2.62.1=h4c96295_0
-  - libsanitizer=15.2.0=h90f66d4_18
-  - libsndfile=1.2.2=hc7d488a_2
-  - libsqlite=3.52.0=hf4e2dac_0
-  - libssh2=1.11.1=hcf80075_0
-  - libstdcxx=15.2.0=h934c35e_18
-  - libstdcxx-devel_linux-64=15.2.0=hd446a21_118
-  - libstdcxx-ng=15.2.0=hdf11a46_18
-  - libsystemd0=260=h6569c3e_0
-  - libtiff=4.7.1=h9d88235_1
-  - libudev1=260=h6569c3e_0
-  - libunwind=1.8.3=h65a8314_0
-  - liburing=2.14=hb700be7_0
-  - libusb=1.0.29=h73b1eb8_0
-  - libuuid=2.41.3=h5347b49_0
-  - libuv=1.51.0=hb03c661_1
-  - libva=2.23.0=he1eb515_0
-  - libvorbis=1.3.7=h54a6638_2
-  - libvpl=2.16.0=h54a6638_0
-  - libvpx=1.15.2=hecca717_0
-  - libvulkan-loader=1.4.341.0=h5279c79_0
-  - libwebp-base=1.6.0=hd42ef1d_0
-  - libxcb=1.17.0=h8a09558_0
-  - libxcrypt=4.4.36=hd590300_1
-  - libxkbcommon=1.13.1=hca5e8e5_0
-  - libxml2=2.15.2=he237659_0
-  - libxml2-16=2.15.2=hca6bf5a_0
-  - libzlib=1.3.2=h25fd6f3_2
-  - llvm-openmp=15.0.7=h0cdce71_0
-  - make=4.4.1=hb9d3cd8_2
-  - markupsafe=3.0.3=py310h3406613_1
-  - matplotlib=3.8.4=py310hff52083_2
-  - matplotlib-base=3.8.4=py310hef631a5_2
-  - mkl=2020.4=h726a3e6_304
-  - mkl-devel=2020.4=ha770c72_305
-  - mkl-include=2020.4=h726a3e6_304
-  - mpc=1.3.1=h24ddda3_1
-  - mpfr=4.2.2=he0a73b1_0
-  - mpg123=1.32.9=hc50e24c_0
-  - mpmath=1.4.1=pyhd8ed1ab_0
-  - munkres=1.1.4=pyhd8ed1ab_1
-  - ncurses=6.5=h2d0b736_3
-  - networkx=3.4.2=pyh267e887_2
-  - ninja=1.13.2=h171cf75_0
-  - nspr=4.38=h29cc59b_0
-  - nss=3.118=h445c969_0
-  - numpy=1.26.4=py310hb13e2d6_0
-  - ocl-icd=2.3.3=hb9d3cd8_0
-  - opencl-headers=2025.06.13=hecca717_0
-  - openh264=2.6.0=hc22cd8d_0
-  - openjpeg=2.5.4=h55fea9a_0
-  - openldap=2.6.10=hbde042b_1
-  - openssl=3.6.1=h35e630c_1
-  - packaging=26.0=pyhcf101f3_0
-  - pandas=2.2.3=py310h5eaa309_3
-  - pango=1.56.4=hda50119_1
-  - pcre2=10.47=haa7fec5_0
-  - perl=5.32.1=7_hd590300_perl5
-  - pillow=12.1.1=py310h5a73078_0
-  - pip=26.0.1=pyh8b19718_0
-  - pixman=0.46.4=h54a6638_1
-  - pkg-config=0.29.2=h4bc722e_1009
-  - ply=3.11=pyhd8ed1ab_3
-  - psutil=7.2.2=py310h139afa4_0
-  - pthread-stubs=0.4=hb9d3cd8_1002
-  - pugixml=1.15=h3f63f65_0
-  - pulseaudio-client=17.0=h9a6aba3_3
-  - pyparsing=3.3.2=pyhcf101f3_0
-  - pyqt=5.15.11=py310h046fae5_2
-  - pyqt5-sip=12.17.0=py310hea6c23e_2
-  - pysocks=1.7.1=pyha55dd90_7
-  - python=3.10.20=h3c07f61_0_cpython
-  - python-dateutil=2.9.0.post0=pyhe01879c_2
-  - python-tzdata=2025.3=pyhd8ed1ab_0
-  - python_abi=3.10=8_cp310
-  - pytorch=2.3.1=py3.10_cuda12.1_cudnn8.9.2_0
-  - pytorch-cuda=12.1=ha16c6d3_6
-  - pytorch-mutex=1.0=cuda
-  - pytz=2026.1.post1=pyhcf101f3_0
-  - pyyaml=6.0.3=py310h3406613_1
-  - qt-main=5.15.15=h0c412b5_8
-  - readline=8.3=h853b02a_0
-  - requests=2.32.5=pyhcf101f3_1
-  - rhash=1.4.6=hb9d3cd8_1
-  - scipy=1.13.1=py310h93e2701_0
-  - sdl2=2.32.56=h54a6638_0
-  - sdl3=3.4.2=hdeec2a5_0
-  - setuptools=82.0.1=pyh332efcf_0
-  - shaderc=2025.5=h718be3e_1
-  - sip=6.10.0=py310hea6c23e_1
-  - six=1.17.0=pyhe01879c_1
-  - snappy=1.2.2=h03e3b7b_1
-  - spirv-tools=2026.1=hb700be7_0
-  - svt-av1=4.0.1=hecca717_0
-  - sympy=1.14.0=pyh2585a3b_106
-  - sysroot_linux-64=2.34=h087de78_3
-  - tbb=2022.3.0=hb700be7_2
-  - tk=8.6.13=noxft_h366c992_103
-  - toml=0.10.2=pyhcf101f3_3
-  - tomli=2.4.0=pyhcf101f3_0
-  - torchaudio=2.3.1=py310_cu121
-  - torchtriton=2.3.1=py310
-  - torchvision=0.18.1=py310_cu121
-  - tornado=6.5.4=py310ha78b2d2_0
-  - tqdm=4.67.3=pyh8f84b5b_0
-  - trimesh=4.11.4=pyh7b2049a_0
-  - typing_extensions=4.15.0=pyhcf101f3_0
-  - tzdata=2025c=hc9c84f9_1
-  - unicodedata2=17.0.1=py310h7c4b9e2_0
-  - urllib3=2.6.3=pyhd8ed1ab_0
-  - wayland=1.25.0=hd6090a7_0
-  - wayland-protocols=1.47=hd8ed1ab_0
-  - wheel=0.46.3=pyhd8ed1ab_0
-  - x264=1!164.3095=h166bdaf_2
-  - x265=3.5=h924138e_3
-  - xcb-util=0.4.1=h4f16b4b_2
-  - xcb-util-image=0.4.0=hb711507_2
-  - xcb-util-keysyms=0.4.1=hb711507_0
-  - xcb-util-renderutil=0.3.10=hb711507_0
-  - xcb-util-wm=0.4.2=hb711507_0
-  - xkeyboard-config=2.47=hb03c661_0
-  - xorg-libice=1.1.2=hb9d3cd8_0
-  - xorg-libsm=1.2.6=he73a12e_0
-  - xorg-libx11=1.8.13=he1eb515_0
-  - xorg-libxau=1.0.12=hb03c661_1
-  - xorg-libxcomposite=0.4.7=hb03c661_0
-  - xorg-libxcursor=1.2.3=hb9d3cd8_0
-  - xorg-libxdamage=1.1.6=hb9d3cd8_0
-  - xorg-libxdmcp=1.1.5=hb03c661_1
-  - xorg-libxext=1.3.7=hb03c661_0
-  - xorg-libxfixes=6.0.2=hb03c661_0
-  - xorg-libxi=1.8.2=hb9d3cd8_0
-  - xorg-libxrandr=1.5.5=hb03c661_0
-  - xorg-libxrender=0.9.12=hb9d3cd8_0
-  - xorg-libxscrnsaver=1.2.4=hb9d3cd8_0
-  - xorg-libxshmfence=1.3.3=hb9d3cd8_0
-  - xorg-libxtst=1.2.5=hb9d3cd8_3
-  - xorg-libxxf86vm=1.1.7=hb03c661_0
-  - yaml=0.2.5=h280c20c_3
-  - zlib-ng=2.3.3=hceb46e0_1
-  - zstd=1.5.7=hb78ec9c_6
-  - pip:
-    - GitPython==3.1.46
-    - Markdown==3.10.2
-    - Werkzeug==3.1.6
-    - absl-py==2.4.0
-    - accelerate==0.31.0
-    - antlr4-python3-runtime==4.9.3
-    - click==8.3.1
-    - docker-pycreds==0.4.0
-    - einops==0.8.0
-    - fsspec==2026.2.0
-    - gitdb==4.0.12
-    - grpcio==1.78.0
-    - hf-xet==1.4.2
-    - huggingface_hub==0.36.2
-    - hydra-core==1.3.2
-    - omegaconf==2.3.0
-    - platformdirs==4.9.4
-    - protobuf==5.29.6
-    - regex==2026.2.28
-    - reveal-vla-bimanual==0.1.0
-    - safetensors==0.4.3
-    - sentry-sdk==2.55.0
-    - setproctitle==1.3.7
-    - setuptools==75.8.0
-    - smmap==5.0.3
-    - tensorboard==2.16.2
-    - tensorboard-data-server==0.7.2
-    - timm==1.0.7
-    - tokenizers==0.19.1
-    - transformers==4.41.2
-    - wandb==0.18.0
-prefix: "/workspace/envs/reveal"


1	+ python=3.11.10
2	+ venv=/workspace/venv_r3d

environment/reveal_pip_freeze.txt CHANGED Viewed

@@ -1,83 +1,8 @@
-absl-py==2.4.0
-accelerate==0.31.0
 antlr4-python3-runtime==4.9.3
-backports.zstd @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_backports.zstd_1767044984/work
-Brotli @ file:///home/conda/feedstock_root/build_artifacts/brotli-split_1764016952863/work
-certifi @ file:///home/conda/feedstock_root/build_artifacts/certifi_1772001073725/work/certifi
-charset-normalizer @ file:///home/conda/feedstock_root/build_artifacts/charset-normalizer_1773659966602/work
-click==8.3.1
-contourpy @ file:///home/conda/feedstock_root/build_artifacts/contourpy_1744743067588/work
-cycler @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_cycler_1764466758/work
-docker-pycreds==0.4.0
-einops==0.8.0
-filelock @ file:///home/conda/feedstock_root/build_artifacts/filelock_1773313889543/work
-fonttools @ file:///home/conda/feedstock_root/build_artifacts/fonttools_1773137064424/work
-fsspec==2026.2.0
-gitdb==4.0.12
-GitPython==3.1.46
-gmpy2 @ file:///home/conda/feedstock_root/build_artifacts/gmpy2_1773244929835/work
-grpcio==1.78.0
-h2 @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_h2_1756364871/work
-hf-xet==1.4.2
-hpack @ file:///home/conda/feedstock_root/build_artifacts/hpack_1737618293087/work
-huggingface_hub==0.36.2
-hydra-core==1.3.2
-hyperframe @ file:///home/conda/feedstock_root/build_artifacts/hyperframe_1737618333194/work
-idna @ file:///home/conda/feedstock_root/build_artifacts/idna_1760286409563/work
-imageio @ file:///home/conda/feedstock_root/build_artifacts/imageio_1738273805233/work
-Jinja2 @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_jinja2_1764517220/work
-kiwisolver @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_kiwisolver_1773067043/work
-Markdown==3.10.2
-MarkupSafe @ file:///home/conda/feedstock_root/build_artifacts/markupsafe_1772444934960/work
-matplotlib @ file:///home/conda/feedstock_root/build_artifacts/matplotlib-suite_1715976200404/work
-mpmath @ file:///home/conda/feedstock_root/build_artifacts/mpmath_1773661943568/work
-munkres==1.1.4
-networkx @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_networkx_1731521053/work
-numpy @ file:///home/conda/feedstock_root/build_artifacts/numpy_1707225380409/work/dist/numpy-1.26.4-cp310-cp310-linux_x86_64.whl#sha256=51131fd8fc130cd168aecaf1bc0ea85f92e8ffebf211772ceb16ac2e7f10d7ca
 omegaconf==2.3.0
-packaging @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_packaging_1769093650/work
-pandas @ file:///home/conda/feedstock_root/build_artifacts/pandas_1744430447393/work
-pillow @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_pillow_1770794002/work
-platformdirs==4.9.4
-ply @ file:///home/conda/feedstock_root/build_artifacts/ply_1733239724146/work
-protobuf==5.29.6
-psutil @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_psutil_1769678154/work
-pyparsing @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_pyparsing_1769003998/work
-PyQt5==5.15.11
-PyQt5_sip==12.17.0
-PySocks @ file:///home/conda/feedstock_root/build_artifacts/pysocks_1733217236728/work
-python-dateutil @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_python-dateutil_1751104122/work
-pytz @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_pytz_1773679724/work
-PyYAML @ file:///home/conda/feedstock_root/build_artifacts/pyyaml_1770223234623/work
-regex==2026.2.28
-requests @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_requests_1766926974/work
-# Editable install with no version control (reveal-vla-bimanual==0.1.0)
--e /workspace/reveal_vla_bimanual
-safetensors==0.4.3
-scipy @ file:///home/conda/feedstock_root/build_artifacts/scipy-split_1716470219380/work/dist/scipy-1.13.1-cp310-cp310-linux_x86_64.whl#sha256=a4ff22b6dc27b61196be51695f53f9b0676e7c1bc564872b51fc3c41b79ae80b
-sentry-sdk==2.55.0
-setproctitle==1.3.7
-sip @ file:///home/conda/feedstock_root/build_artifacts/sip_1759437834046/work
-six @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_six_1753199211/work
-smmap==5.0.3
-sympy @ file:///home/conda/feedstock_root/build_artifacts/sympy_1771952240620/work
-tensorboard==2.16.2
-tensorboard-data-server==0.7.2
-timm==1.0.7
-tokenizers==0.19.1
-toml @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_toml_1764486833/work
-tomli @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_tomli_1768146676/work
-torch==2.3.1
-torchaudio==2.3.1
-torchvision==0.18.1
-tornado @ file:///home/conda/feedstock_root/build_artifacts/tornado_1765836373149/work
-tqdm @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_tqdm_1770153424/work
-transformers==4.41.2
-trimesh @ file:///home/conda/feedstock_root/build_artifacts/trimesh_1773883117645/work
-triton==2.3.1
-typing_extensions @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_typing_extensions_1756220668/work
-tzdata @ file:///home/conda/feedstock_root/build_artifacts/python-tzdata_1765719872007/work
-unicodedata2 @ file:///home/conda/feedstock_root/build_artifacts/unicodedata2_1770908960326/work
-urllib3 @ file:///home/conda/feedstock_root/build_artifacts/urllib3_1767817748113/work
-wandb==0.18.0
-Werkzeug==3.1.6

 antlr4-python3-runtime==4.9.3
+huggingface-hub==0.36.0
 omegaconf==2.3.0
+regex==2025.11.3
+safetensors==0.7.0
+tokenizers==0.22.1
+tqdm==4.67.1
+transformers==4.57.1

environment/rlbench_env_explicit.txt CHANGED Viewed

@@ -1,363 +1,304 @@
-List of packages in environment: "/workspace/envs/rlbench"
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-https://conda.anaconda.org/conda-forge/linux-64/binutils_linux-64-2.45.1-default_h4852527_102.conda
-https://conda.anaconda.org/conda-forge/linux-64/blas-2.108-mkl.tar.bz2
-https://conda.anaconda.org/conda-forge/linux-64/blas-devel-3.9.0-8_mkl.tar.bz2
-https://conda.anaconda.org/conda-forge/linux-64/brotli-1.2.0-hed03a55_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/brotli-bin-1.2.0-hb03c661_1.conda
-https://conda.anaconda.org/conda-forge/linux-64/brotli-python-1.2.0-py310hba01987_1.conda
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-https://conda.anaconda.org/conda-forge/linux-64/c-ares-1.34.6-hb03c661_0.conda
-https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.2.25-hbd8a1cb_0.conda
-https://conda.anaconda.org/conda-forge/noarch/cached-property-1.5.2-hd8ed1ab_1.tar.bz2
-https://conda.anaconda.org/conda-forge/noarch/cached_property-1.5.2-pyha770c72_1.tar.bz2
-https://conda.anaconda.org/conda-forge/linux-64/cairo-1.18.4-he90730b_1.conda
-https://conda.anaconda.org/conda-forge/noarch/certifi-2026.2.25-pyhd8ed1ab_0.conda
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-https://conda.anaconda.org/conda-forge/linux-64/contourpy-1.3.2-py310h3788b33_0.conda
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-https://conda.anaconda.org/nvidia/linux-64/cuda-libraries-12.1.0-0.tar.bz2
-https://conda.anaconda.org/nvidia/linux-64/cuda-nvrtc-12.1.105-0.tar.bz2
-https://conda.anaconda.org/nvidia/linux-64/cuda-nvtx-12.1.105-0.tar.bz2
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-https://conda.anaconda.org/nvidia/linux-64/cuda-runtime-12.1.0-0.tar.bz2
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-https://conda.anaconda.org/conda-forge/noarch/cycler-0.12.1-pyhcf101f3_2.conda
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-https://conda.anaconda.org/conda-forge/linux-64/dav1d-1.2.1-hd590300_0.conda
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-https://conda.anaconda.org/conda-forge/linux-64/ffmpeg-8.0.1-gpl_he74fc74_714.conda
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-https://conda.anaconda.org/conda-forge/noarch/font-ttf-inconsolata-3.000-h77eed37_0.tar.bz2
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-https://conda.anaconda.org/conda-forge/noarch/font-ttf-ubuntu-0.83-h77eed37_3.conda
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-https://conda.anaconda.org/conda-forge/noarch/fonts-conda-forge-1-hc364b38_1.conda
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+# This file may be used to create an environment using:
+# $ conda create --name <env> --file <this file>
+# platform: linux-64
+@EXPLICIT
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+https://conda.anaconda.org/conda-forge/linux-64/pandas-2.2.3-py310h5eaa309_3.conda#07697a584fab513ce895c4511f7a2403
+https://conda.anaconda.org/conda-forge/noarch/wheel-0.46.3-pyhd8ed1ab_0.conda#bdbd7385b4a67025ac2dba4ef8cb6a8f
+https://conda.anaconda.org/conda-forge/noarch/pip-26.0.1-pyh8b19718_0.conda#67bdec43082fd8a9cffb9484420b39a2
+https://conda.anaconda.org/conda-forge/linux-64/pkg-config-0.29.2-h4bc722e_1009.conda#1bee70681f504ea424fb07cdb090c001
+https://conda.anaconda.org/conda-forge/linux-64/psutil-7.2.2-py310h139afa4_0.conda#d210342acdb8e3ca6434295497c10b7c
+https://conda.anaconda.org/conda-forge/noarch/pysocks-1.7.1-pyha55dd90_7.conda#461219d1a5bd61342293efa2c0c90eac
+https://conda.anaconda.org/pytorch/linux-64/pytorch-cuda-12.1-ha16c6d3_6.tar.bz2#0e94331f6f87bff1c229da02b0508693
+https://conda.anaconda.org/pytorch/noarch/pytorch-mutex-1.0-cuda.tar.bz2#a948316e36fb5b11223b3fcfa93f8358
+https://conda.anaconda.org/conda-forge/linux-64/yaml-0.2.5-h280c20c_3.conda#a77f85f77be52ff59391544bfe73390a
+https://conda.anaconda.org/conda-forge/linux-64/pyyaml-6.0.3-py310h3406613_1.conda#2160894f57a40d2d629a34ee8497795f
+https://conda.anaconda.org/conda-forge/noarch/sympy-1.14.0-pyh2585a3b_106.conda#32d866e43b25275f61566b9391ccb7b5
+https://conda.anaconda.org/pytorch/linux-64/torchtriton-2.3.1-py310.tar.bz2#bf074d1248b4149efd067e3d25631fb1
+https://conda.anaconda.org/conda-forge/noarch/typing_extensions-4.15.0-pyhcf101f3_0.conda#0caa1af407ecff61170c9437a808404d
+https://conda.anaconda.org/pytorch/linux-64/pytorch-2.3.1-py3.10_cuda12.1_cudnn8.9.2_0.tar.bz2#5ad4418a67edb4a4ce270cbe60bd3240
+https://conda.anaconda.org/conda-forge/noarch/urllib3-2.6.3-pyhd8ed1ab_0.conda#9272daa869e03efe68833e3dc7a02130
+https://conda.anaconda.org/conda-forge/noarch/requests-2.32.5-pyhcf101f3_1.conda#c65df89a0b2e321045a9e01d1337b182
+https://conda.anaconda.org/conda-forge/linux-64/scipy-1.13.1-py310h93e2701_0.conda#9a697144b2f3adc88ada6b6201b379c4
+https://conda.anaconda.org/pytorch/linux-64/torchaudio-2.3.1-py310_cu121.tar.bz2#339505d342528621d867a80617d8b451
+https://conda.anaconda.org/pytorch/linux-64/torchvision-0.18.1-py310_cu121.tar.bz2#cdccabed0cb26de7be652ba21d49e6f7
+https://conda.anaconda.org/conda-forge/noarch/tqdm-4.67.3-pyh8f84b5b_0.conda#e5ce43272193b38c2e9037446c1d9206
+https://conda.anaconda.org/conda-forge/noarch/trimesh-4.11.4-pyh7b2049a_0.conda#613d7b4007e6ef446fd1677ca3471be9

environment/rlbench_env_export.yaml CHANGED Viewed

@@ -1,4 +1,4 @@
-name:
 channels:
   - conda-forge
   - nvidia
@@ -7,7 +7,6 @@ dependencies:
   - _openmp_mutex=4.5=7_kmp_llvm
   - alsa-lib=1.2.15.3=hb03c661_0
   - aom=3.9.1=hac33072_0
-  - attr=2.5.2=hb03c661_1
   - backports.zstd=1.3.0=py310h69bd2ac_0
   - binutils_impl_linux-64=2.45.1=default_hfdba357_102
   - binutils_linux-64=2.45.1=default_h4852527_102
@@ -40,7 +39,7 @@ dependencies:
   - cyrus-sasl=2.1.28=hac629b4_1
   - dav1d=1.2.1=hd590300_0
   - dbus=1.16.2=h24cb091_1
-  - ffmpeg=8.0.1=gpl_he74fc74_714
   - filelock=3.25.2=pyhd8ed1ab_0
   - font-ttf-dejavu-sans-mono=2.37=hab24e00_0
   - font-ttf-inconsolata=3.000=h77eed37_0
@@ -50,7 +49,7 @@ dependencies:
   - fonts-conda-ecosystem=1=0
   - fonts-conda-forge=1=hc364b38_1
   - fonttools=4.62.0=py310h3406613_0
-  - freetype=2.14.2=ha770c72_0
   - fribidi=1.0.16=hb03c661_0
   - gcc_impl_linux-64=15.2.0=he420e7e_18
   - gcc_linux-64=15.2.0=h862fb80_21
@@ -67,9 +66,9 @@ dependencies:
   - gxx_impl_linux-64=15.2.0=hda75c37_18
   - gxx_linux-64=15.2.0=h1fb793f_21
   - h2=4.3.0=pyhcf101f3_0
-  - h5py=3.15.1=nompi_py310h4aa865e_101
-  - harfbuzz=13.2.0=h6083320_0
-  - hdf5=1.14.6=nompi_h19486de_106
   - hpack=4.1.0=pyhd8ed1ab_0
   - hyperframe=6.1.0=pyhd8ed1ab_0
   - icu=78.3=h33c6efd_0
@@ -90,12 +89,11 @@ dependencies:
   - libabseil=20260107.1=cxx17_h7b12aa8_0
   - libaec=1.1.5=h088129d_0
   - libass=0.17.4=h96ad9f0_0
-  - libattr=2.5.2=hb03c661_1
   - libblas=3.9.0=8_mkl
   - libbrotlicommon=1.2.0=hb03c661_1
   - libbrotlidec=1.2.0=hb03c661_1
   - libbrotlienc=1.2.0=hb03c661_1
-  - libcap=2.77=h3ff7636_0
   - libcblas=3.9.0=8_mkl
   - libclang-cpp22.1=22.1.0=default_h99862b1_0
   - libclang13=22.1.0=default_h746c552_0
@@ -116,8 +114,8 @@ dependencies:
   - libexpat=2.7.4=hecca717_0
   - libffi=3.5.2=h3435931_0
   - libflac=1.5.0=he200343_1
-  - libfreetype=2.14.2=ha770c72_0
-  - libfreetype6=2.14.2=h73754d4_0
   - libgcc=15.2.0=he0feb66_18
   - libgcc-devel_linux-64=15.2.0=hcc6f6b0_118
   - libgcc-ng=15.2.0=h69a702a_18
@@ -172,9 +170,9 @@ dependencies:
   - libstdcxx=15.2.0=h934c35e_18
   - libstdcxx-devel_linux-64=15.2.0=hd446a21_118
   - libstdcxx-ng=15.2.0=hdf11a46_18
-  - libsystemd0=260=h6569c3e_0
   - libtiff=4.7.1=h9d88235_1
-  - libudev1=260=h6569c3e_0
   - libunwind=1.8.3=h65a8314_0
   - liburing=2.14=hb700be7_0
   - libusb=1.0.29=h73b1eb8_0
@@ -219,7 +217,7 @@ dependencies:
   - openssl=3.6.1=h35e630c_1
   - packaging=26.0=pyhcf101f3_0
   - pandas=2.2.3=py310h5eaa309_3
-  - pango=1.56.4=hadf4263_0
   - pcre2=10.47=haa7fec5_0
   - perl=5.32.1=7_hd590300_perl5
   - pillow=12.1.1=py310h5a73078_0
@@ -268,7 +266,7 @@ dependencies:
   - torchaudio=2.3.1=py310_cu121
   - torchtriton=2.3.1=py310
   - torchvision=0.18.1=py310_cu121
-  - tornado=6.5.4=py310ha78b2d2_0
   - tqdm=4.67.3=pyh8f84b5b_0
   - trimesh=4.11.4=pyh7b2049a_0
   - typing_extensions=4.15.0=pyhcf101f3_0
@@ -307,66 +305,121 @@ dependencies:
   - zlib-ng=2.3.3=hceb46e0_1
   - zstd=1.5.7=hb78ec9c_6
   - pip:
     - GitPython==3.1.46
     - Markdown==3.10.2
     - PyOpenGL==3.1.0
     - PyRep==4.1.0.3
     - Pygments==2.19.2
-    - Werkzeug==3.1.6
     - absl-py==2.1.0
     - accelerate==0.31.0
     - antlr4-python3-runtime==4.9.3
     - click==8.3.1
     - click-prompt==0.5.1
     - clip==1.0
     - cloudpickle==3.1.2
     - docker-pycreds==0.4.0
     - einops==0.8.0
     - freetype-py==2.5.1
     - fsspec==2026.2.0
     - ftfy==6.2.0
     - gitdb==4.0.12
     - grpcio==1.78.0
     - gym==0.26.2
     - gym-notices==0.1.0
     - hf-xet==1.4.2
     - huggingface_hub==0.36.2
     - hydra-core==1.3.2
     - markdown-it-py==4.0.0
     - mdurl==0.1.2
     - moviepy==2.2.1
     - natsort==8.4.0
     - numpy==1.26.4
     - omegaconf==2.3.0
     - opencv-python==4.10.0.84
     - peract_bimanual==0.0.1
     - perceiver-pytorch==0.8.8
     - pillow==12.1.1
     - platformdirs==4.9.4
     - poetry-core==2.3.1
     - protobuf==5.29.6
     - pyglet==2.1.13
     - pyquaternion==0.9.9
     - pyrender==0.1.45
     - pytorch-lamb==1.0.0
     - regex==2024.5.15
     - reveal-vla-bimanual==0.1.0
     - rich==13.9.4
     - rich-click==1.8.9
     - rlbench==1.2.1
     - safetensors==0.4.3
-    - sentry-sdk==2.55.0
     - setproctitle==1.3.7
     - smmap==5.0.3
     - tensorboard==2.16.2
     - tensorboard-data-server==0.7.2
     - tensorboardX==2.6.4
     - timeout-decorator==0.5.0
-    - timm==1.0.25
     - tokenizers==0.19.1
     - transformers==4.41.2
     - wandb==0.18.0
     - wcwidth==0.2.14
     - yarr==0.1
 prefix: "/workspace/envs/rlbench"

+name: rlbench
 channels:
   - conda-forge
   - nvidia
   - _openmp_mutex=4.5=7_kmp_llvm
   - alsa-lib=1.2.15.3=hb03c661_0
   - aom=3.9.1=hac33072_0
   - backports.zstd=1.3.0=py310h69bd2ac_0
   - binutils_impl_linux-64=2.45.1=default_hfdba357_102
   - binutils_linux-64=2.45.1=default_h4852527_102
   - cyrus-sasl=2.1.28=hac629b4_1
   - dav1d=1.2.1=hd590300_0
   - dbus=1.16.2=h24cb091_1
+  - ffmpeg=8.0.1=gpl_hcddb375_914
   - filelock=3.25.2=pyhd8ed1ab_0
   - font-ttf-dejavu-sans-mono=2.37=hab24e00_0
   - font-ttf-inconsolata=3.000=h77eed37_0
   - fonts-conda-ecosystem=1=0
   - fonts-conda-forge=1=hc364b38_1
   - fonttools=4.62.0=py310h3406613_0
+  - freetype=2.14.3=ha770c72_0
   - fribidi=1.0.16=hb03c661_0
   - gcc_impl_linux-64=15.2.0=he420e7e_18
   - gcc_linux-64=15.2.0=h862fb80_21
   - gxx_impl_linux-64=15.2.0=hda75c37_18
   - gxx_linux-64=15.2.0=h1fb793f_21
   - h2=4.3.0=pyhcf101f3_0
+  - h5py=3.16.0=nompi_py310h4aa865e_100
+  - harfbuzz=13.2.1=h6083320_0
+  - hdf5=1.14.6=nompi_h19486de_107
   - hpack=4.1.0=pyhd8ed1ab_0
   - hyperframe=6.1.0=pyhd8ed1ab_0
   - icu=78.3=h33c6efd_0
   - libabseil=20260107.1=cxx17_h7b12aa8_0
   - libaec=1.1.5=h088129d_0
   - libass=0.17.4=h96ad9f0_0
   - libblas=3.9.0=8_mkl
   - libbrotlicommon=1.2.0=hb03c661_1
   - libbrotlidec=1.2.0=hb03c661_1
   - libbrotlienc=1.2.0=hb03c661_1
+  - libcap=2.77=hd0affe5_1
   - libcblas=3.9.0=8_mkl
   - libclang-cpp22.1=22.1.0=default_h99862b1_0
   - libclang13=22.1.0=default_h746c552_0
   - libexpat=2.7.4=hecca717_0
   - libffi=3.5.2=h3435931_0
   - libflac=1.5.0=he200343_1
+  - libfreetype=2.14.3=ha770c72_0
+  - libfreetype6=2.14.3=h73754d4_0
   - libgcc=15.2.0=he0feb66_18
   - libgcc-devel_linux-64=15.2.0=hcc6f6b0_118
   - libgcc-ng=15.2.0=h69a702a_18
   - libstdcxx=15.2.0=h934c35e_18
   - libstdcxx-devel_linux-64=15.2.0=hd446a21_118
   - libstdcxx-ng=15.2.0=hdf11a46_18
+  - libsystemd0=260.1=h6569c3e_0
   - libtiff=4.7.1=h9d88235_1
+  - libudev1=260.1=h6569c3e_0
   - libunwind=1.8.3=h65a8314_0
   - liburing=2.14=hb700be7_0
   - libusb=1.0.29=h73b1eb8_0
   - openssl=3.6.1=h35e630c_1
   - packaging=26.0=pyhcf101f3_0
   - pandas=2.2.3=py310h5eaa309_3
+  - pango=1.56.4=hda50119_1
   - pcre2=10.47=haa7fec5_0
   - perl=5.32.1=7_hd590300_perl5
   - pillow=12.1.1=py310h5a73078_0
   - torchaudio=2.3.1=py310_cu121
   - torchtriton=2.3.1=py310
   - torchvision=0.18.1=py310_cu121
+  - tornado=6.5.5=py310h7c4b9e2_0
   - tqdm=4.67.3=pyh8f84b5b_0
   - trimesh=4.11.4=pyh7b2049a_0
   - typing_extensions=4.15.0=pyhcf101f3_0
   - zlib-ng=2.3.3=hceb46e0_1
   - zstd=1.5.7=hb78ec9c_6
   - pip:
+    - ConfigArgParse==1.7.5
+    - Farama-Notifications==0.0.4
+    - Flask==3.1.3
     - GitPython==3.1.46
     - Markdown==3.10.2
     - PyOpenGL==3.1.0
     - PyRep==4.1.0.3
     - Pygments==2.19.2
+    - Werkzeug==3.1.7
     - absl-py==2.1.0
     - accelerate==0.31.0
+    - addict==2.4.0
+    - aiohappyeyeballs==2.6.1
+    - aiohttp==3.13.3
+    - aiosignal==1.4.0
     - antlr4-python3-runtime==4.9.3
+    - asttokens==3.0.1
+    - async-timeout==5.0.1
+    - attrs==26.1.0
+    - blinker==1.9.0
     - click==8.3.1
     - click-prompt==0.5.1
     - clip==1.0
     - cloudpickle==3.1.2
+    - comm==0.2.3
+    - dash==4.1.0
+    - decorator==5.2.1
     - docker-pycreds==0.4.0
     - einops==0.8.0
+    - exceptiongroup==1.3.1
+    - executing==2.2.1
+    - fastjsonschema==2.21.2
     - freetype-py==2.5.1
+    - frozenlist==1.8.0
     - fsspec==2026.2.0
     - ftfy==6.2.0
     - gitdb==4.0.12
     - grpcio==1.78.0
     - gym==0.26.2
     - gym-notices==0.1.0
+    - gymnasium==1.0.0a2
     - hf-xet==1.4.2
     - huggingface_hub==0.36.2
     - hydra-core==1.3.2
+    - importlib_metadata==9.0.0
+    - ipython==8.38.0
+    - ipywidgets==8.1.8
+    - itsdangerous==2.2.0
+    - jedi==0.19.2
+    - joblib==1.5.3
+    - jsonschema==4.26.0
+    - jsonschema-specifications==2025.9.1
+    - jupyter_core==5.9.1
+    - jupyterlab_widgets==3.0.16
     - markdown-it-py==4.0.0
+    - matplotlib-inline==0.2.1
     - mdurl==0.1.2
     - moviepy==2.2.1
+    - multidict==6.7.1
+    - narwhals==2.18.1
     - natsort==8.4.0
+    - nbformat==5.10.4
+    - nest-asyncio==1.6.0
     - numpy==1.26.4
     - omegaconf==2.3.0
+    - open3d==0.19.0
+    - openai==0.28.1
     - opencv-python==4.10.0.84
+    - parso==0.8.6
     - peract_bimanual==0.0.1
     - perceiver-pytorch==0.8.8
+    - pexpect==4.9.0
     - pillow==12.1.1
     - platformdirs==4.9.4
+    - plotly==6.6.0
     - poetry-core==2.3.1
+    - prompt_toolkit==3.0.52
+    - propcache==0.4.1
     - protobuf==5.29.6
+    - ptyprocess==0.7.0
+    - pure_eval==0.2.3
     - pyglet==2.1.13
     - pyquaternion==0.9.9
     - pyrender==0.1.45
     - pytorch-lamb==1.0.0
+    - referencing==0.37.0
     - regex==2024.5.15
+    - retrying==1.4.2
     - reveal-vla-bimanual==0.1.0
     - rich==13.9.4
     - rich-click==1.8.9
     - rlbench==1.2.1
+    - rpds-py==0.30.0
     - safetensors==0.4.3
+    - scikit-learn==1.7.2
+    - segment-anything==1.0
+    - sentry-sdk==2.56.0
     - setproctitle==1.3.7
     - smmap==5.0.3
+    - stack-data==0.6.3
     - tensorboard==2.16.2
     - tensorboard-data-server==0.7.2
     - tensorboardX==2.6.4
+    - threadpoolctl==3.6.0
     - timeout-decorator==0.5.0
+    - timm==1.0.26
     - tokenizers==0.19.1
+    - traitlets==5.14.3
     - transformers==4.41.2
+    - transforms3d==0.4.1
     - wandb==0.18.0
     - wcwidth==0.2.14
+    - widgetsnbextension==4.0.15
+    - yarl==1.23.0
     - yarr==0.1
+    - zipp==3.23.0
 prefix: "/workspace/envs/rlbench"

environment/rlbench_pip_freeze.txt CHANGED Viewed

@@ -1,7 +1,15 @@
 absl-py==2.1.0
 accelerate==0.31.0
 antlr4-python3-runtime==4.9.3
 backports.zstd @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_backports.zstd_1767044984/work
 Brotli @ file:///home/conda/feedstock_root/build_artifacts/brotli-split_1764016952863/work
 cached-property @ file:///home/conda/feedstock_root/build_artifacts/cached_property_1615209429212/work
 certifi @ file:///home/conda/feedstock_root/build_artifacts/certifi_1772001073725/work/certifi
@@ -11,13 +19,23 @@ click==8.3.1
 click-prompt==0.5.1
 clip @ git+https://github.com/openai/CLIP.git@ded190a052fdf4585bd685cee5bc96e0310d2c93
 cloudpickle==3.1.2
 contourpy @ file:///home/conda/feedstock_root/build_artifacts/contourpy_1744743067588/work
 cycler @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_cycler_1764466758/work
 docker-pycreds==0.4.0
 einops==0.8.0
 filelock @ file:///home/conda/feedstock_root/build_artifacts/filelock_1773313889543/work
 fonttools @ file:///home/conda/feedstock_root/build_artifacts/fonttools_1773137064424/work
 freetype-py==2.5.1
 fsspec==2026.2.0
 ftfy==6.2.0
 gitdb==4.0.12
@@ -26,8 +44,9 @@ gmpy2 @ file:///home/conda/feedstock_root/build_artifacts/gmpy2_1773244929835/wo
 grpcio==1.78.0
 gym==0.26.2
 gym-notices==0.1.0
 h2 @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_h2_1756364871/work
-h5py @ file:///home/conda/feedstock_root/build_artifacts/h5py_1764016499341/work
 hf-xet==1.4.2
 hpack @ file:///home/conda/feedstock_root/build_artifacts/hpack_1737618293087/work
 huggingface_hub==0.36.2
@@ -35,31 +54,55 @@ hydra-core==1.3.2
 hyperframe @ file:///home/conda/feedstock_root/build_artifacts/hyperframe_1737618333194/work
 idna @ file:///home/conda/feedstock_root/build_artifacts/idna_1760286409563/work
 imageio @ file:///home/conda/feedstock_root/build_artifacts/imageio_1738273805233/work
 Jinja2 @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_jinja2_1764517220/work
 kiwisolver @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_kiwisolver_1773067043/work
 Markdown==3.10.2
 markdown-it-py==4.0.0
 MarkupSafe @ file:///home/conda/feedstock_root/build_artifacts/markupsafe_1772444934960/work
 matplotlib @ file:///home/conda/feedstock_root/build_artifacts/matplotlib-suite_1715976200404/work
 mdurl==0.1.2
 moviepy==2.2.1
 mpmath @ file:///home/conda/feedstock_root/build_artifacts/mpmath_1773661943568/work
 munkres==1.1.4
 natsort==8.4.0
 networkx @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_networkx_1731521053/work
 numpy==1.26.4
 omegaconf==2.3.0
 opencv-python==4.10.0.84
 packaging @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_packaging_1769093650/work
 pandas @ file:///home/conda/feedstock_root/build_artifacts/pandas_1744430447393/work
 -e git+https://github.com/markusgrotz/peract_bimanual.git@bb0232a6ba3fe116566e9568f0c7af980ed6703d#egg=peract_bimanual
 perceiver-pytorch==0.8.8
 pillow==12.1.1
 platformdirs==4.9.4
 ply @ file:///home/conda/feedstock_root/build_artifacts/ply_1733239724146/work
 poetry-core==2.3.1
 protobuf==5.29.6
 psutil @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_psutil_1769678154/work
 pycparser @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_pycparser_1733195786/work
 pyglet==2.1.13
 Pygments==2.19.2
@@ -75,35 +118,44 @@ python-dateutil @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-
 pytorch-lamb==1.0.0
 pytz @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_pytz_1773679724/work
 PyYAML @ file:///home/conda/feedstock_root/build_artifacts/pyyaml_1770223234623/work
 regex==2024.5.15
 requests @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_requests_1766926974/work
 # Editable install with no version control (reveal-vla-bimanual==0.1.0)
 -e /workspace/reveal_vla_bimanual
 rich==13.9.4
 rich-click==1.8.9
 -e git+https://github.com/markusgrotz/RLBench.git@8af748c51287989294e00c9c670e3330a0e35ed5#egg=rlbench
 safetensors==0.4.3
 scipy @ file:///home/conda/feedstock_root/build_artifacts/scipy-split_1716470219380/work/dist/scipy-1.13.1-cp310-cp310-linux_x86_64.whl#sha256=a4ff22b6dc27b61196be51695f53f9b0676e7c1bc564872b51fc3c41b79ae80b
-sentry-sdk==2.55.0
 setproctitle==1.3.7
 sip @ file:///home/conda/feedstock_root/build_artifacts/sip_1759437834046/work
 six @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_six_1753199211/work
 smmap==5.0.3
 sympy @ file:///home/conda/feedstock_root/build_artifacts/sympy_1771952240620/work
 tensorboard==2.16.2
 tensorboard-data-server==0.7.2
 tensorboardX==2.6.4
 timeout-decorator==0.5.0
-timm==1.0.25
 tokenizers==0.19.1
 toml @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_toml_1764486833/work
 tomli @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_tomli_1768146676/work
 torch==2.3.1
 torchaudio==2.3.1
 torchvision==0.18.1
-tornado @ file:///home/conda/feedstock_root/build_artifacts/tornado_1765836373149/work
 tqdm @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_tqdm_1770153424/work
 transformers==4.41.2
 trimesh @ file:///home/conda/feedstock_root/build_artifacts/trimesh_1773883117645/work
 triton==2.3.1
 typing_extensions @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_typing_extensions_1756220668/work
@@ -112,5 +164,8 @@ unicodedata2 @ file:///home/conda/feedstock_root/build_artifacts/unicodedata2_17
 urllib3 @ file:///home/conda/feedstock_root/build_artifacts/urllib3_1767817748113/work
 wandb==0.18.0
 wcwidth==0.2.14
-Werkzeug==3.1.6
 -e git+https://github.com/markusgrotz/YARR.git@6822ff78602c77878b27d4cfe759ce029c67bffb#egg=yarr

 absl-py==2.1.0
 accelerate==0.31.0
+addict==2.4.0
+aiohappyeyeballs==2.6.1
+aiohttp==3.13.3
+aiosignal==1.4.0
 antlr4-python3-runtime==4.9.3
+asttokens==3.0.1
+async-timeout==5.0.1
+attrs==26.1.0
 backports.zstd @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_backports.zstd_1767044984/work
+blinker==1.9.0
 Brotli @ file:///home/conda/feedstock_root/build_artifacts/brotli-split_1764016952863/work
 cached-property @ file:///home/conda/feedstock_root/build_artifacts/cached_property_1615209429212/work
 certifi @ file:///home/conda/feedstock_root/build_artifacts/certifi_1772001073725/work/certifi
 click-prompt==0.5.1
 clip @ git+https://github.com/openai/CLIP.git@ded190a052fdf4585bd685cee5bc96e0310d2c93
 cloudpickle==3.1.2
+comm==0.2.3
+ConfigArgParse==1.7.5
 contourpy @ file:///home/conda/feedstock_root/build_artifacts/contourpy_1744743067588/work
 cycler @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_cycler_1764466758/work
+dash==4.1.0
+decorator==5.2.1
 docker-pycreds==0.4.0
 einops==0.8.0
+exceptiongroup==1.3.1
+executing==2.2.1
+Farama-Notifications==0.0.4
+fastjsonschema==2.21.2
 filelock @ file:///home/conda/feedstock_root/build_artifacts/filelock_1773313889543/work
+Flask==3.1.3
 fonttools @ file:///home/conda/feedstock_root/build_artifacts/fonttools_1773137064424/work
 freetype-py==2.5.1
+frozenlist==1.8.0
 fsspec==2026.2.0
 ftfy==6.2.0
 gitdb==4.0.12
 grpcio==1.78.0
 gym==0.26.2
 gym-notices==0.1.0
+gymnasium==1.0.0a2
 h2 @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_h2_1756364871/work
+h5py @ file:///home/conda/feedstock_root/build_artifacts/h5py_1774320540448/work
 hf-xet==1.4.2
 hpack @ file:///home/conda/feedstock_root/build_artifacts/hpack_1737618293087/work
 huggingface_hub==0.36.2
 hyperframe @ file:///home/conda/feedstock_root/build_artifacts/hyperframe_1737618333194/work
 idna @ file:///home/conda/feedstock_root/build_artifacts/idna_1760286409563/work
 imageio @ file:///home/conda/feedstock_root/build_artifacts/imageio_1738273805233/work
+importlib_metadata==9.0.0
+ipython==8.38.0
+ipywidgets==8.1.8
+itsdangerous==2.2.0
+jedi==0.19.2
 Jinja2 @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_jinja2_1764517220/work
+joblib==1.5.3
+jsonschema==4.26.0
+jsonschema-specifications==2025.9.1
+jupyter_core==5.9.1
+jupyterlab_widgets==3.0.16
 kiwisolver @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_kiwisolver_1773067043/work
 Markdown==3.10.2
 markdown-it-py==4.0.0
 MarkupSafe @ file:///home/conda/feedstock_root/build_artifacts/markupsafe_1772444934960/work
 matplotlib @ file:///home/conda/feedstock_root/build_artifacts/matplotlib-suite_1715976200404/work
+matplotlib-inline==0.2.1
 mdurl==0.1.2
 moviepy==2.2.1
 mpmath @ file:///home/conda/feedstock_root/build_artifacts/mpmath_1773661943568/work
+multidict==6.7.1
 munkres==1.1.4
+narwhals==2.18.1
 natsort==8.4.0
+nbformat==5.10.4
+nest-asyncio==1.6.0
 networkx @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_networkx_1731521053/work
 numpy==1.26.4
 omegaconf==2.3.0
+open3d==0.19.0
+openai==0.28.1
 opencv-python==4.10.0.84
 packaging @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_packaging_1769093650/work
 pandas @ file:///home/conda/feedstock_root/build_artifacts/pandas_1744430447393/work
+parso==0.8.6
 -e git+https://github.com/markusgrotz/peract_bimanual.git@bb0232a6ba3fe116566e9568f0c7af980ed6703d#egg=peract_bimanual
 perceiver-pytorch==0.8.8
+pexpect==4.9.0
 pillow==12.1.1
 platformdirs==4.9.4
+plotly==6.6.0
 ply @ file:///home/conda/feedstock_root/build_artifacts/ply_1733239724146/work
 poetry-core==2.3.1
+prompt_toolkit==3.0.52
+propcache==0.4.1
 protobuf==5.29.6
 psutil @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_psutil_1769678154/work
+ptyprocess==0.7.0
+pure_eval==0.2.3
 pycparser @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_pycparser_1733195786/work
 pyglet==2.1.13
 Pygments==2.19.2
 pytorch-lamb==1.0.0
 pytz @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_pytz_1773679724/work
 PyYAML @ file:///home/conda/feedstock_root/build_artifacts/pyyaml_1770223234623/work
+referencing==0.37.0
 regex==2024.5.15
 requests @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_requests_1766926974/work
+retrying==1.4.2
 # Editable install with no version control (reveal-vla-bimanual==0.1.0)
 -e /workspace/reveal_vla_bimanual
 rich==13.9.4
 rich-click==1.8.9
 -e git+https://github.com/markusgrotz/RLBench.git@8af748c51287989294e00c9c670e3330a0e35ed5#egg=rlbench
+rpds-py==0.30.0
 safetensors==0.4.3
+scikit-learn==1.7.2
 scipy @ file:///home/conda/feedstock_root/build_artifacts/scipy-split_1716470219380/work/dist/scipy-1.13.1-cp310-cp310-linux_x86_64.whl#sha256=a4ff22b6dc27b61196be51695f53f9b0676e7c1bc564872b51fc3c41b79ae80b
+segment-anything==1.0
+sentry-sdk==2.56.0
 setproctitle==1.3.7
 sip @ file:///home/conda/feedstock_root/build_artifacts/sip_1759437834046/work
 six @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_six_1753199211/work
 smmap==5.0.3
+stack-data==0.6.3
 sympy @ file:///home/conda/feedstock_root/build_artifacts/sympy_1771952240620/work
 tensorboard==2.16.2
 tensorboard-data-server==0.7.2
 tensorboardX==2.6.4
+threadpoolctl==3.6.0
 timeout-decorator==0.5.0
+timm==1.0.26
 tokenizers==0.19.1
 toml @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_toml_1764486833/work
 tomli @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_tomli_1768146676/work
 torch==2.3.1
 torchaudio==2.3.1
 torchvision==0.18.1
+tornado @ file:///home/conda/feedstock_root/build_artifacts/tornado_1774357896577/work
 tqdm @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_tqdm_1770153424/work
+traitlets==5.14.3
 transformers==4.41.2
+transforms3d==0.4.1
 trimesh @ file:///home/conda/feedstock_root/build_artifacts/trimesh_1773883117645/work
 triton==2.3.1
 typing_extensions @ file:///home/conda/feedstock_root/build_artifacts/bld/rattler-build_typing_extensions_1756220668/work
 urllib3 @ file:///home/conda/feedstock_root/build_artifacts/urllib3_1767817748113/work
 wandb==0.18.0
 wcwidth==0.2.14
+Werkzeug==3.1.7
+widgetsnbextension==4.0.15
+yarl==1.23.0
 -e git+https://github.com/markusgrotz/YARR.git@6822ff78602c77878b27d4cfe759ce029c67bffb#egg=yarr
+zipp==3.23.0

environment/run_peract2_13_rollouts.sh CHANGED Viewed

@@ -1,57 +1,19 @@
 #!/usr/bin/env bash
 set -euo pipefail
-ROOT_DIR="${ROOT_DIR:-/workspace}"
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-BUNDLE_ROOT="$(cd "${SCRIPT_DIR}/.." && pwd)"
-PROJECT_DIR="${PROJECT_DIR:-${ROOT_DIR}/reveal_vla_bimanual}"
-MAMBA_BIN="${ROOT_DIR}/.tools/micromamba/bin/micromamba"
-MAMBA_ROOT_PREFIX="${ROOT_DIR}/.micromamba"
-ENV_PREFIX="${ROOT_DIR}/envs/rlbench"
-DISPLAY_NUM="${DISPLAY_NUM:-99}"
-DISPLAY=":${DISPLAY_NUM}"
-COPPELIA_DIR="${COPPELIASIM_ROOT:-${ROOT_DIR}/assets/coppeliasim_v4_1_0}"
-RUNTIME_DIR="${ROOT_DIR}/runtime"
-CHECKPOINT="${CHECKPOINT:-${BUNDLE_ROOT}/artifacts/outputs/interaction_debug/proxy_interaction_state_clip_actionhist/checkpoint_best.pt}"
-OUTPUT_ROOT="${OUTPUT_ROOT:-${BUNDLE_ROOT}/artifacts/outputs/interaction_debug}"
-RUN_NAME_PREFIX="${RUN_NAME_PREFIX:-peract2_13_rollout}"
-mkdir -p "${RUNTIME_DIR}"
-chmod 700 "${RUNTIME_DIR}"
-ensure_rlbench_display() {
-  if DISPLAY="${DISPLAY}" xdpyinfo >/dev/null 2>&1; then
-    return 0
-  fi
-  ROOT_DIR="${ROOT_DIR}" DISPLAY_NUM="${DISPLAY_NUM}" "${PROJECT_DIR}/scripts/start_rlbench_x.sh"
-}
-run_in_rlbench_env() {
-  local driver_version=""
-  local driver_branch=""
-  local shim_ld=""
-  if command -v nvidia-smi >/dev/null 2>&1; then
-    driver_version="$(nvidia-smi --query-gpu=driver_version --format=csv,noheader | head -n1 || true)"
-    driver_branch="${driver_version%%.*}"
-    if [[ -n "${driver_branch}" && -d "${ROOT_DIR}/system_shims/nvidia${driver_branch}/usr/lib/x86_64-linux-gnu" ]]; then
-      shim_ld="${ROOT_DIR}/system_shims/nvidia${driver_branch}/usr/lib/x86_64-linux-gnu"
-    fi
-  fi
-  env \
-    DISPLAY="${DISPLAY}" \
-    COPPELIASIM_ROOT="${COPPELIA_DIR}" \
-    XDG_RUNTIME_DIR="${RUNTIME_DIR}" \
-    LD_LIBRARY_PATH="${COPPELIA_DIR}${shim_ld:+:${shim_ld}}${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}" \
-    QT_QPA_PLATFORM_PLUGIN_PATH="${COPPELIA_DIR}" \
-    "${MAMBA_BIN}" run -r "${MAMBA_ROOT_PREFIX}" -p "${ENV_PREFIX}" "$@"
-}
-ensure_rlbench_display
-run_in_rlbench_env python -m eval.run_peract2_task_sweep \
-  --checkpoint "${CHECKPOINT}" \
-  --output-root "${OUTPUT_ROOT}" \
-  --run-name-prefix "${RUN_NAME_PREFIX}" \
-  --headless \
-  --chunk-commit-steps 4 \
-  "$@"

 #!/usr/bin/env bash
 set -euo pipefail
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+source "${REPO_ROOT}/environment/runtime_env_vars.sh"
+CHECKPOINT="${1:-${REPO_ROOT}/artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13/checkpoint_best.pt}"
+OUTPUT_ROOT="${2:-${REPO_ROOT}/artifacts/outputs/r3d}"
+echo "[peract2] checkpoint=${CHECKPOINT}"
+echo "[peract2] output_root=${OUTPUT_ROOT}"
+/workspace/.tools/micromamba/bin/micromamba run -r /workspace/.micromamba -p /workspace/envs/rlbench \
+  bash -lc "cd /workspace/reveal_vla_bimanual && PYTHONPATH=/workspace/reveal_vla_bimanual python -m eval.run_peract2_launch_smoke --output-dir ${OUTPUT_ROOT}/peract2_13_launch_smoke --headless"
+/workspace/.tools/micromamba/bin/micromamba run -r /workspace/.micromamba -p /workspace/envs/rlbench \
+  bash -lc "cd /workspace/reveal_vla_bimanual && PYTHONPATH=/workspace/reveal_vla_bimanual python -m eval.run_rlbench_rollout_eval --checkpoint ${CHECKPOINT} --output-dir ${OUTPUT_ROOT}/rlbench_open_drawer_r3d_rollout --tasks open_drawer --episodes-per-task 1 --episode-length 5 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning"
+echo "[peract2] done"

environment/runtime_env_vars.sh ADDED Viewed

	@@ -0,0 +1,11 @@

+#!/usr/bin/env bash
+set -euo pipefail
+export DISPLAY=:99
+export XDG_RUNTIME_DIR=/workspace/runtime
+export COPPELIASIM_ROOT=/workspace/assets/coppeliasim_v4_1_0
+export QT_QPA_PLATFORM_PLUGIN_PATH=/workspace/assets/coppeliasim_v4_1_0
+export LD_LIBRARY_PATH=/workspace/system_shims/nvidia570/usr/lib/x86_64-linux-gnu:/workspace/system_shims/nvidia570/usr/lib/x86_64-linux-gnu/nvidia:/workspace/assets/coppeliasim_v4_1_0${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}
+export HF_HOME=/workspace/.cache/huggingface
+export HF_HUB_OFFLINE=1
+export TRANSFORMERS_OFFLINE=1
+export TOKENIZERS_PARALLELISM=false

environment/setup_same_machine.sh CHANGED Viewed

@@ -1,80 +1,52 @@
 #!/usr/bin/env bash
 set -euo pipefail
-ROOT_DIR="${ROOT_DIR:-/workspace}"
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-BUNDLE_ROOT="$(cd "${SCRIPT_DIR}/.." && pwd)"
-BUNDLED_PROJECT_DIR="${BUNDLE_ROOT}/code/reveal_vla_bimanual"
-PROJECT_DIR="${PROJECT_DIR:-${ROOT_DIR}/reveal_vla_bimanual}"
-THIRD_PARTY_DIR="${ROOT_DIR}/third_party"
-INSTALL_ENV_B="${INSTALL_ENV_B:-1}"
-INSTALL_LEGACY_LAYOUT="${INSTALL_LEGACY_LAYOUT:-0}"
-echo "Using ROOT_DIR=${ROOT_DIR}"
-echo "Using BUNDLE_ROOT=${BUNDLE_ROOT}"
-echo "Using BUNDLED_PROJECT_DIR=${BUNDLED_PROJECT_DIR}"
-echo "Using PROJECT_DIR=${PROJECT_DIR}"
-ensure_project_dir() {
-  if [[ -e "${PROJECT_DIR}" ]]; then
-    return 0
-  fi
-  ln -s "${BUNDLED_PROJECT_DIR}" "${PROJECT_DIR}"
-}
-sync_repo() {
-  local target_dir="$1"
-  local repo_url="$2"
-  local repo_rev="$3"
-  if [[ ! -d "${target_dir}/.git" ]]; then
-    git clone "${repo_url}" "${target_dir}"
   fi
-  git -C "${target_dir}" fetch --all --tags
-  git -C "${target_dir}" checkout "${repo_rev}"
-}
-chmod +x "${BUNDLED_PROJECT_DIR}/scripts/"*.sh
-mkdir -p "${THIRD_PARTY_DIR}"
-ensure_project_dir
-echo "1/6 Sync pinned third-party repos"
-sync_repo "${THIRD_PARTY_DIR}/peract2_bimanual_probe_20260324" "https://github.com/markusgrotz/peract_bimanual.git" "bb0232a6ba3fe116566e9568f0c7af980ed6703d"
-sync_repo "${THIRD_PARTY_DIR}/RLBench_peract2_20260324" "https://github.com/markusgrotz/RLBench.git" "8af748c51287989294e00c9c670e3330a0e35ed5"
-sync_repo "${THIRD_PARTY_DIR}/PyRep_peract2_20260324" "https://github.com/markusgrotz/PyRep.git" "b8bd1d7a3182adcd570d001649c0849047ebf197"
-sync_repo "${THIRD_PARTY_DIR}/YARR_peract2_20260324" "https://github.com/markusgrotz/YARR.git" "6822ff78602c77878b27d4cfe759ce029c67bffb"
-if [[ "${INSTALL_LEGACY_LAYOUT}" == "1" ]]; then
-  sync_repo "${THIRD_PARTY_DIR}/peract_bimanual" "https://github.com/markusgrotz/peract_bimanual.git" "1cc074b1730f52a7fd35d069d8c9099d18718bca"
-  sync_repo "${THIRD_PARTY_DIR}/RLBench" "https://github.com/markusgrotz/RLBench.git" "02720bba4c73fe02eb75df946b8791b806028a9d"
-  sync_repo "${THIRD_PARTY_DIR}/PyRep" "https://github.com/markusgrotz/PyRep.git" "b8bd1d7a3182adcd570d001649c0849047ebf197"
-  sync_repo "${THIRD_PARTY_DIR}/YARR" "https://github.com/markusgrotz/YARR.git" "6822ff78602c77878b27d4cfe759ce029c67bffb"
 fi
-echo "2/6 Install or update Env A (RLBench / PerAct2)"
-ROOT_DIR="${ROOT_DIR}" "${PROJECT_DIR}/scripts/setup_env_a_rlbench.sh"
-echo "3/6 Install RLBench headless X prerequisites"
-ROOT_DIR="${ROOT_DIR}" "${PROJECT_DIR}/scripts/setup_rlbench_headless_x.sh"
-echo "4/6 Start RLBench X server on :99"
-ROOT_DIR="${ROOT_DIR}" DISPLAY_NUM=99 "${PROJECT_DIR}/scripts/start_rlbench_x.sh"
-if [[ "${INSTALL_ENV_B}" == "1" ]]; then
-  echo "5/6 Install or update Env B base (reveal / IsaacLab source)"
-  ROOT_DIR="${ROOT_DIR}" "${PROJECT_DIR}/scripts/setup_env_b_reveal.sh"
-else
-  echo "5/6 Skip Env B base because INSTALL_ENV_B=${INSTALL_ENV_B}"
-fi
-echo "6/6 Done"
-echo
-echo "Optional next step for full Isaac Sim pip install:"
-echo "  INSTALL_ISAACSIM=1 ${PROJECT_DIR}/scripts/setup_env_b_reveal.sh"
-echo
-echo "Recommended validation commands:"
-echo "  DISPLAY=:99 glxinfo -B"
-echo "  /workspace/.tools/micromamba/bin/micromamba run -r /workspace/.micromamba -p /workspace/envs/rlbench python -m sim_rlbench.launch_smoke --task bimanual_push_box --headless"
-echo "  ${BUNDLE_ROOT}/environment/run_peract2_13_rollouts.sh --episodes-per-task 1 --episode-length 20"
-echo "  /workspace/.tools/micromamba/bin/micromamba run -r /workspace/.micromamba -p /workspace/envs/rlbench python -m sim_reveal.isaac_smoke"
-echo "  ${BUNDLE_ROOT}/environment/validate_same_machine.sh"

 #!/usr/bin/env bash
 set -euo pipefail
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+WORKSPACE_ROOT="${WORKSPACE_ROOT:-/workspace}"
+RLBENCH_ENV="${WORKSPACE_ROOT}/envs/rlbench"
+R3D_VENV="${WORKSPACE_ROOT}/venv_r3d"
+echo "[setup] repo_root=${REPO_ROOT}"
+echo "[setup] workspace_root=${WORKSPACE_ROOT}"
+required_paths=(
+  "${WORKSPACE_ROOT}/assets/coppeliasim_v4_1_0"
+  "${WORKSPACE_ROOT}/system_shims/nvidia570"
+  "${WORKSPACE_ROOT}/models/openai_clip_vit_base_patch32"
+  "${WORKSPACE_ROOT}/third_party/RLBench_peract2_20260324"
+  "${WORKSPACE_ROOT}/third_party/PyRep_peract2_20260324"
+  "${WORKSPACE_ROOT}/third_party/YARR_peract2_20260324"
+  "${WORKSPACE_ROOT}/third_party/peract2_bimanual_probe_20260324"
+)
+for path in "${required_paths[@]}"; do
+  if [[ ! -e "${path}" ]]; then
+    echo "[setup] missing required path: ${path}" >&2
+    exit 1
   fi
+done
+if [[ ! -x /workspace/.tools/micromamba/bin/micromamba ]]; then
+  echo "[setup] missing micromamba at /workspace/.tools/micromamba/bin/micromamba" >&2
+  exit 1
 fi
+if [[ ! -d "${RLBENCH_ENV}" ]]; then
+  echo "[setup] creating RLBench env from explicit lock file"
+  /workspace/.tools/micromamba/bin/micromamba create -y -p "${RLBENCH_ENV}" --file "${REPO_ROOT}/environment/rlbench_env_explicit.txt"
+else
+  echo "[setup] RLBench env already exists at ${RLBENCH_ENV}"
+fi
+if [[ ! -d "${R3D_VENV}" ]]; then
+  echo "[setup] creating ${R3D_VENV}"
+  python3 -m venv "${R3D_VENV}"
+fi
+"${R3D_VENV}/bin/pip" install --upgrade pip
+"${R3D_VENV}/bin/pip" install -r "${REPO_ROOT}/environment/reveal_pip_freeze.txt"
+ln -sfn "${REPO_ROOT}/code/reveal_vla_bimanual" "${WORKSPACE_ROOT}/reveal_vla_bimanual"
+echo "[setup] source ${REPO_ROOT}/environment/runtime_env_vars.sh before RLBench commands"
+echo "[setup] run ${REPO_ROOT}/environment/validate_same_machine.sh for validation"

environment/system_packages_same_machine.txt CHANGED Viewed

@@ -1,18 +1,152 @@
-libxcb-cursor0
-libxcb-icccm4
-libxcb-image0
-libxcb-keysyms1
-libxcb-randr0
-libxcb-render-util0
-libxcb-xinerama0
-libxkbcommon0
-libxkbcommon-x11-0
-libxrender1
-mesa-utils
-nvidia-xconfig
-x11-utils
-x11-xserver-utils
-xauth
-xserver-xorg
-xserver-xorg-core
-xvfb

+adduser	3.118ubuntu5
+apt	2.4.13
+base-files	12ubuntu4.7
+base-passwd	3.5.52build1
+bash	5.1-6ubuntu1.1
+bsdutils	1:2.37.2-4ubuntu3.4
+ca-certificates	20230311ubuntu0.22.04.1
+coreutils	8.32-4.1ubuntu1.2
+cuda-command-line-tools-12-4	12.4.1-1
+cuda-compat-12-4	550.90.12-0ubuntu1
+cuda-cudart-12-4	12.4.127-1
+cuda-cudart-dev-12-4	12.4.127-1
+cuda-keyring	1.1-1
+cuda-libraries-12-4	12.4.1-1
+cuda-libraries-dev-12-4	12.4.1-1
+cuda-minimal-build-12-4	12.4.1-1
+cuda-nsight-compute-12-4	12.4.1-1
+cuda-nvml-dev-12-4	12.4.127-1
+cuda-nvprof-12-4	12.4.127-1
+cuda-nvtx-12-4	12.4.127-1
+curl	7.81.0-1ubuntu1.18
+dash	0.5.11+git20210903+057cd650a4ed-3build1
+debconf	1.5.79ubuntu1
+debianutils	5.5-1ubuntu2
+diffutils	1:3.8-0ubuntu2
+dpkg	1.21.1ubuntu2.3
+e2fsprogs	1.46.5-2ubuntu1.2
+findutils	4.8.0-1ubuntu3
+gcc-12-base	12.3.0-1ubuntu1~22.04
+git	1:2.34.1-1ubuntu1.11
+gnupg2	2.2.27-3ubuntu2.1
+gpgv	2.2.27-3ubuntu2.1
+grep	3.7-1build1
+gzip	1.10-4ubuntu4.1
+hostname	3.23ubuntu2
+init-system-helpers	1.62
+libacl1	2.3.1-1
+libapt-pkg6.0	2.4.13
+libattr1	1:2.5.1-1build1
+libaudit-common	1:3.0.7-1build1
+libaudit1	1:3.0.7-1build1
+libblkid1	2.37.2-4ubuntu3.4
+libbz2-1.0	1.0.8-5build1
+libc-bin	2.35-0ubuntu3.8
+libc6	2.35-0ubuntu3.8
+libcap-ng0	0.7.9-2.2build3
+libcap2	1:2.44-1ubuntu0.22.04.1
+libcom-err2	1.46.5-2ubuntu1.2
+libcrypt1	1:4.4.27-1
+libcublas-12-4	12.4.5.8-1
+libcublas-dev-12-4	12.4.5.8-1
+libcusparse-12-4	12.3.1.170-1
+libcusparse-dev-12-4	12.3.1.170-1
+libdb5.3	5.3.28+dfsg1-0.8ubuntu3
+libdebconfclient0	0.261ubuntu1
+libext2fs2	1.46.5-2ubuntu1.2
+libffi8	3.4.2-4
+libgcc-s1	12.3.0-1ubuntu1~22.04
+libgcrypt20	1.9.4-3ubuntu3
+libgl1	1.4.0-1
+libgmp10	2:6.2.1+dfsg-3ubuntu1
+libgnutls30	3.7.3-4ubuntu1.5
+libgpg-error0	1.43-3
+libgssapi-krb5-2	1.19.2-2ubuntu0.4
+libhogweed6	3.7.3-1build2
+libidn2-0	2.3.2-2build1
+libk5crypto3	1.19.2-2ubuntu0.4
+libkeyutils1	1.6.1-2ubuntu3
+libkrb5-3	1.19.2-2ubuntu0.4
+libkrb5support0	1.19.2-2ubuntu0.4
+liblz4-1	1.9.3-2build2
+liblzma5	5.2.5-2ubuntu1
+libmount1	2.37.2-4ubuntu3.4
+libnccl-dev	2.21.5-1+cuda12.4
+libnccl2	2.21.5-1+cuda12.4
+libncurses6	6.3-2ubuntu0.1
+libncursesw6	6.3-2ubuntu0.1
+libnettle8	3.7.3-1build2
+libnpp-12-4	12.2.5.30-1
+libnpp-dev-12-4	12.2.5.30-1
+libnsl2	1.3.0-2build2
+libp11-kit0	0.24.0-6build1
+libpam-modules	1.4.0-11ubuntu2.4
+libpam-modules-bin	1.4.0-11ubuntu2.4
+libpam-runtime	1.4.0-11ubuntu2.4
+libpam0g	1.4.0-11ubuntu2.4
+libpcre2-8-0	10.39-3ubuntu0.1
+libpcre3	2:8.39-13ubuntu0.22.04.1
+libprocps8	2:3.3.17-6ubuntu2.1
+libseccomp2	2.5.3-2ubuntu2
+libselinux1	3.3-1build2
+libsemanage-common	3.3-1build2
+libsemanage2	3.3-1build2
+libsepol2	3.3-1build1
+libsmartcols1	2.37.2-4ubuntu3.4
+libss2	1.46.5-2ubuntu1.2
+libssl3	3.0.2-0ubuntu1.18
+libstdc++6	12.3.0-1ubuntu1~22.04
+libsystemd0	249.11-0ubuntu3.19
+libtasn1-6	4.18.0-4build1
+libtinfo6	6.3-2ubuntu0.1
+libtirpc-common	1.3.2-2ubuntu0.1
+libtirpc3	1.3.2-2ubuntu0.1
+libudev1	249.11-0ubuntu3.19
+libunistring2	1.0-1
+libuuid1	2.37.2-4ubuntu3.4
+libxcb-cursor0	0.1.1-4ubuntu1
+libxcb-icccm4	0.4.1-1.1build2
+libxcb-image0	0.4.0-2
+libxcb-keysyms1	0.4.0-1build3
+libxcb-randr0	1.14-3ubuntu3
+libxcb-render-util0	0.3.9-1build3
+libxcb-xinerama0	1.14-3ubuntu3
+libxkbcommon-x11-0	1.4.0-1
+libxkbcommon0	1.4.0-1
+libxrender1	1:0.9.10-1build4
+libxxhash0	0.8.1-1
+libzstd1	1.4.8+dfsg-3build1
+login	1:4.8.1-2ubuntu2.2
+logsave	1.46.5-2ubuntu1.2
+lsb-base	11.1.0ubuntu4
+mawk	1.3.4.20200120-3
+mesa-utils	8.4.0-1ubuntu1
+mount	2.37.2-4ubuntu3.4
+nano	6.2-1ubuntu0.1
+ncurses-base	6.3-2ubuntu0.1
+ncurses-bin	6.3-2ubuntu0.1
+nginx	1.18.0-6ubuntu14.5
+nvidia-xconfig	595.58.03-1ubuntu1
+openssh-server	1:8.9p1-3ubuntu0.10
+passwd	1:4.8.1-2ubuntu2.2
+perl-base	5.34.0-3ubuntu1.3
+procps	2:3.3.17-6ubuntu2.1
+python3.11-dev	3.11.10-1+jammy1
+python3.11-venv	3.11.10-1+jammy1
+sed	4.8-1ubuntu2
+sensible-utils	0.0.17
+software-properties-common	0.99.22.9
+sysvinit-utils	3.01-1ubuntu1
+tar	1.34+dfsg-1ubuntu0.1.22.04.2
+tmux	3.2a-4ubuntu0.2
+ubuntu-keyring	2021.03.26
+usrmerge	25ubuntu2
+util-linux	2.37.2-4ubuntu3.4
+wget	1.21.2-2ubuntu1.1
+x11-utils	7.7+5build2
+x11-xserver-utils	7.7+9build1
+xauth	1:1.1-1build2
+xserver-xorg	1:7.7+23ubuntu2
+xserver-xorg-core	2:21.1.4-2ubuntu1.7~22.04.16
+xvfb	2:21.1.4-2ubuntu1.7~22.04.16
+zlib1g	1:1.2.11.dfsg-2ubuntu9.2

environment/upstream_revisions.txt CHANGED Viewed

@@ -1,31 +1,14 @@
-/workspace/third_party/peract2_bimanual_probe_20260324
-repo_url=https://github.com/markusgrotz/peract_bimanual.git
-commit=bb0232a6ba3fe116566e9568f0c7af980ed6703d
-/workspace/third_party/RLBench_peract2_20260324
-repo_url=https://github.com/markusgrotz/RLBench.git
-commit=8af748c51287989294e00c9c670e3330a0e35ed5
-/workspace/third_party/PyRep_peract2_20260324
-repo_url=https://github.com/markusgrotz/PyRep.git
-commit=b8bd1d7a3182adcd570d001649c0849047ebf197
-/workspace/third_party/YARR_peract2_20260324
-repo_url=https://github.com/markusgrotz/YARR.git
-commit=6822ff78602c77878b27d4cfe759ce029c67bffb
-/workspace/third_party/peract_bimanual
-repo_url=https://github.com/markusgrotz/peract_bimanual.git
-commit=1cc074b1730f52a7fd35d069d8c9099d18718bca
-/workspace/third_party/RLBench
-repo_url=https://github.com/markusgrotz/RLBench.git
-commit=02720bba4c73fe02eb75df946b8791b806028a9d
-/workspace/third_party/PyRep
-repo_url=https://github.com/markusgrotz/PyRep.git
-commit=b8bd1d7a3182adcd570d001649c0849047ebf197
-/workspace/third_party/YARR
-repo_url=https://github.com/markusgrotz/YARR.git
-commit=6822ff78602c77878b27d4cfe759ce029c67bffb

+RLBench_peract2_20260324
+8af748c51287989294e00c9c670e3330a0e35ed5
+PyRep_peract2_20260324
+b8bd1d7a3182adcd570d001649c0849047ebf197
+YARR_peract2_20260324
+6822ff78602c77878b27d4cfe759ce029c67bffb
+peract2_bimanual_probe_20260324
+bb0232a6ba3fe116566e9568f0c7af980ed6703d
+coppeliasim
+/workspace/assets/coppeliasim_v4_1_0
+clip_model_dir
+/workspace/models/openai_clip_vit_base_patch32
+nvidia_shims
+/workspace/system_shims/nvidia570

environment/validate_same_machine.sh CHANGED Viewed

@@ -1,69 +1,18 @@
 #!/usr/bin/env bash
 set -euo pipefail
-ROOT_DIR="${ROOT_DIR:-/workspace}"
-DISPLAY_NUM="${DISPLAY_NUM:-99}"
-DISPLAY=":${DISPLAY_NUM}"
-PROJECT_DIR="${PROJECT_DIR:-${ROOT_DIR}/reveal_vla_bimanual}"
-MAMBA_BIN="${ROOT_DIR}/.tools/micromamba/bin/micromamba"
-MAMBA_ROOT_PREFIX="${ROOT_DIR}/.micromamba"
-ENV_PREFIX="${ROOT_DIR}/envs/rlbench"
-COPPELIA_DIR="${COPPELIASIM_ROOT:-${ROOT_DIR}/assets/coppeliasim_v4_1_0}"
-RUNTIME_DIR="${ROOT_DIR}/runtime"
-mkdir -p "${RUNTIME_DIR}"
-chmod 700 "${RUNTIME_DIR}"
-ensure_rlbench_display() {
-  if DISPLAY="${DISPLAY}" xdpyinfo >/dev/null 2>&1; then
-    return 0
-  fi
-  local driver_version=""
-  local driver_branch=""
-  if command -v nvidia-smi >/dev/null 2>&1; then
-    driver_version="$(nvidia-smi --query-gpu=driver_version --format=csv,noheader | head -n1 || true)"
-    driver_branch="${driver_version%%.*}"
-  fi
-  if [[ -n "${driver_branch}" && ! -f "${ROOT_DIR}/system_shims/nvidia${driver_branch}/usr/lib/x86_64-linux-gnu/nvidia/xorg/libglxserver_nvidia.so" ]]; then
-    echo "RLBench X shims missing; installing headless X prerequisites"
-    ROOT_DIR="${ROOT_DIR}" "${PROJECT_DIR}/scripts/setup_rlbench_headless_x.sh"
-  fi
-  echo "Starting RLBench X server on ${DISPLAY}"
-  ROOT_DIR="${ROOT_DIR}" DISPLAY_NUM="${DISPLAY_NUM}" "${PROJECT_DIR}/scripts/start_rlbench_x.sh"
-}
-run_in_rlbench_env() {
-  local driver_version=""
-  local driver_branch=""
-  local shim_ld=""
-  if command -v nvidia-smi >/dev/null 2>&1; then
-    driver_version="$(nvidia-smi --query-gpu=driver_version --format=csv,noheader | head -n1 || true)"
-    driver_branch="${driver_version%%.*}"
-    if [[ -n "${driver_branch}" && -d "${ROOT_DIR}/system_shims/nvidia${driver_branch}/usr/lib/x86_64-linux-gnu" ]]; then
-      shim_ld="${ROOT_DIR}/system_shims/nvidia${driver_branch}/usr/lib/x86_64-linux-gnu"
-    fi
-  fi
-  env \
-    DISPLAY="${DISPLAY}" \
-    COPPELIASIM_ROOT="${COPPELIA_DIR}" \
-    XDG_RUNTIME_DIR="${RUNTIME_DIR}" \
-    LD_LIBRARY_PATH="${COPPELIA_DIR}${shim_ld:+:${shim_ld}}${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}" \
-    QT_QPA_PLATFORM_PLUGIN_PATH="${COPPELIA_DIR}" \
-    "${MAMBA_BIN}" run -r "${MAMBA_ROOT_PREFIX}" -p "${ENV_PREFIX}" "$@"
-}
-ensure_rlbench_display
-echo "Display check"
-DISPLAY="${DISPLAY}" glxinfo -B
-echo
-echo "RLBench import smoke"
-run_in_rlbench_env python -m sim_rlbench.smoke_test --print-train-command --upstream-root "${ROOT_DIR}/third_party/peract2_bimanual_probe_20260324"
-echo
-echo "RLBench launch smoke: bimanual_push_box"
-run_in_rlbench_env python -m sim_rlbench.launch_smoke --task bimanual_push_box --resolution 128 --headless

 #!/usr/bin/env bash
 set -euo pipefail
+REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+source "${REPO_ROOT}/environment/runtime_env_vars.sh"
+PYTHONPATH_R3D="/workspace/venv_r3d/lib/python3.11/site-packages:${REPO_ROOT}/code/reveal_vla_bimanual:/usr/local/lib/python3.11/dist-packages"
+echo "[validate] pytest"
+PYTHONPATH="${PYTHONPATH_R3D}" python -m pytest -q "${REPO_ROOT}/tests"
+echo "[validate] rlbench smoke_test"
+/workspace/.tools/micromamba/bin/micromamba run -r /workspace/.micromamba -p /workspace/envs/rlbench \
+  bash -lc "cd /workspace/reveal_vla_bimanual && PYTHONPATH=/workspace/reveal_vla_bimanual python -m sim_rlbench.smoke_test --print-train-command"
+echo "[validate] rlbench launch_smoke open_drawer"
+/workspace/.tools/micromamba/bin/micromamba run -r /workspace/.micromamba -p /workspace/envs/rlbench \
+  bash -lc "cd /workspace/reveal_vla_bimanual && PYTHONPATH=/workspace/reveal_vla_bimanual python -m sim_rlbench.launch_smoke --task open_drawer --headless"

regression/baselines.md ADDED Viewed

	@@ -0,0 +1,45 @@

+# Regression Baselines
+Snapshot source: `/workspace/VLAarchtests/README.md` plus the committed artifact JSONs under `/workspace/VLAarchtests/artifacts/outputs`.
+## Proxy benchmarks
+- Dummy action-history benchmark:
+  - interaction: `0.5278` from `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/reveal_eval_interaction_actionhist_commit4/reveal_benchmark.json`
+  - backbone: `0.5556` from `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/reveal_eval_old_no_leak_baselines_commit4/reveal_benchmark.json`
+  - reveal: `0.5417` from `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/reveal_eval_old_no_leak_baselines_commit4/reveal_benchmark.json`
+- CLIP action-history benchmark:
+  - interaction_clip: `0.3056` from `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/reveal_eval_interaction_clip_commit4_compare/reveal_benchmark.json`
+  - backbone_clip: `0.3333` from `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/reveal_eval_clip_baselines_commit4/reveal_benchmark.json`
+  - reveal_clip: `0.2083` from `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/reveal_eval_clip_baselines_commit4/reveal_benchmark.json`
+## Action-history ablations
+- full_model: `0.5278`
+- no_interaction_head: `0.3889`
+- no_world_model: `0.5278`
+- no_planner: `0.5278`
+- no_role_tokens: `0.5278`
+- short_history: `0.5417`
+JSON path: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/ablation_none_actionhist/ablations.json`
+## Diagnostics
+- planner_top1_accuracy: `0.1985`
+- planner_regret: `0.2120`
+JSON path: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/proxy_interaction_state_actionhist/diagnostics/proxy_diagnostics.json`
+## Integration baselines
+- RLBench open-drawer rollout:
+  - mean_success: `0.0`
+  - error: `"A path could not be found because the target is outside of workspace."`
+  - JSON: `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/rlbench_open_drawer_rollout_eval_commit4_rerun/rollout_eval.json`
+- PerAct2 13-task sweep:
+  - no-plan mean_success: `0.0`
+  - planner mean_success: `0.0`
+  - JSON roots:
+    - `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/peract2_13_rollout_noplan_split/rollout_eval.json`
+    - `/workspace/VLAarchtests/artifacts/outputs/interaction_debug/peract2_13_rollout_plan_split/rollout_eval.json`

results/phase_tracking.md ADDED Viewed

	@@ -0,0 +1,175 @@

+# Phase Tracking
+Date closed: `2026-03-25 UTC`
+- Snapshot note: this Hugging Face snapshot does not contain `.git`, so a git commit hash is unavailable.
+- Regression baselines: `/workspace/VLAarchtests/regression/baselines.md`
+- Acceptance rule: only proxy metrics are used for phase acceptance. RLBench and PerAct2 remain integration-only checks.
+## Phase 0
+- Status: completed.
+- Historical baseline artifacts are locked in `/workspace/VLAarchtests/regression/baselines.md`.
+- Historical dummy benchmark reference:
+  - interaction `0.5278`
+  - backbone `0.5556`
+  - reveal `0.5417`
+- Historical CLIP benchmark reference:
+  - interaction `0.3056`
+  - backbone `0.3333`
+  - reveal `0.2083`
+## Phase 1
+- Config: `proxy_interaction_r3d_stage1_dummy.yaml`
+- Seeds: `13, 14, 15`
+- Artifact roots:
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed13`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed14`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage1_dummy_seed15`
+- Mean train time: `20.45 s`
+- Mean peak GPU memory: `629.62 MB`
+- 3-seed benchmark means:
+  - mean success: `0.5787`
+  - foliage success: `0.4444`
+  - bag success: `0.6111`
+  - cloth success: `0.6806`
+  - reocclusion rate: `0.0000`
+  - persistence horizon MAE: `1.9553`
+  - disturbance cost: `0.3649`
+  - planner top-1: `0.2832`
+  - planner regret: `0.0143`
+  - planner score/utility spearman: `0.2504`
+  - role collapse: `0.0000`
+  - proposal diversity: `0.0245`
+  - swap equivariance error: `0.00768`
+- Ablations:
+  - `no_planner`: `0.5648` mean success, drop `0.0139`
+  - `no_role_symmetry`: `0.5833` mean success, delta `+0.0046`
+- Gate decisions:
+  - hard success gate `>= 0.58`: fail by `0.0013`
+  - planner must matter: fail, `no_planner` drop is only `0.0139`
+  - planner top-1 `>= 0.30`: fail, measured `0.2832`
+  - role symmetry must matter: fail, `no_role_symmetry` is slightly better than full
+  - proposal collapse must not happen: pass, diversity stayed nonzero across all seeds
+- Takeaway: the structure refactor improved over the historical interaction baseline (`0.5787` vs `0.5278`) and exceeded the historical dummy backbone baseline (`0.5556`), but it did not clear the phase-1 acceptance gates.
+## Phase 2
+- Config: `proxy_interaction_r3d_stage2_dummy.yaml`
+- Seeds: `21, 22, 23`
+- Artifact roots:
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed21`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed22`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage2_dummy_seed23`
+- Mean train time: `20.76 s`
+- Mean peak GPU memory: `639.39 MB`
+- 3-seed benchmark means:
+  - mean success: `0.5463`
+  - foliage success: `0.4444`
+  - bag success: `0.5417`
+  - cloth success: `0.6528`
+  - reocclusion rate: `0.0121`
+  - persistence horizon MAE: `2.2358`
+  - disturbance cost: `0.3148`
+  - planner top-1: `0.3442`
+  - planner regret: `0.0208`
+  - planner score/utility spearman: `0.2397`
+  - belief calibration brier: `0.00842`
+  - reocclusion calibration brier: `0.2745`
+  - swap equivariance error: `0.00504`
+- Ablations:
+  - `no_world_model`: `0.5463` mean success, drop `0.0000`
+  - `short_history`: `0.5463` mean success, delta `0.0000`
+- Gate decisions:
+  - hard success gate `>= 0.60`: fail
+  - `no_world_model` must hurt: fail, no success drop and no persuasive secondary metric degradation
+  - full memory must stop losing to short history: hard gate passes narrowly because full equals short-history; preferred gate fails because full does not beat short-history
+  - state metrics should improve over phase 1: fail, reocclusion rate increased (`0.0000 -> 0.0121`), persistence MAE worsened (`1.9553 -> 2.2358`), and calibration worsened
+- Takeaway: the expanded state/memory path did not validate on the dummy proxy benchmark. Planner classification improved, but task success and state quality did not.
+## Phase 3
+- RGB-only compatibility configs:
+  - `proxy_interaction_r3d_stage1_clip.yaml`
+  - `proxy_interaction_r3d_stage2_clip.yaml`
+- RGB-D config: `proxy_interaction_r3d_stage3_clip_rgbd.yaml`
+- Artifact roots:
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed7`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed8`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage1_clip_seed9`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed11`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed12`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage2_clip_seed13`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed18`
+  - `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed19`
+- RGB-only CLIP means:
+  - stage 1 clip mean success: `0.5324`
+  - stage 2 clip mean success: `0.4954`
+- Stage 3 RGB-D means:
+  - mean train time: `145.93 s`
+  - mean peak GPU memory: `1952.12 MB`
+  - mean success: `0.5741`
+  - foliage success: `0.4861`
+  - bag success: `0.5417`
+  - cloth success: `0.6944`
+  - reocclusion rate: `0.0151`
+  - persistence horizon MAE: `1.7883`
+  - disturbance cost: `0.2258`
+  - planner top-1: `0.3265`
+  - planner regret: `0.0157`
+  - proposal diversity: `0.0270`
+  - swap equivariance error: `0.000094`
+- `no_depth` ablation:
+  - mean success: `0.5231`
+  - absolute drop vs full: `0.0509`
+  - bag success drops `0.5417 -> 0.4722`
+  - foliage success drops `0.4861 -> 0.4167`
+- Gate decisions:
+  - CLIP hard success gate `>= 0.37`: pass
+  - `no_depth` must hurt on at least one geometry-heavy proxy: pass
+  - no RGB-only regression: pass, both RGB-only CLIP configs still run and produce sane metrics
+- Takeaway: the RGB-D path is the first phase that cleanly clears its acceptance gates.
+## Phase 4
+- Unit tests:
+  - command: `PYTHONPATH=/workspace/venv_r3d/lib/python3.11/site-packages:/workspace/VLAarchtests/code/reveal_vla_bimanual:/usr/local/lib/python3.11/dist-packages python -m pytest -q /workspace/VLAarchtests/tests`
+  - result: `10 passed`
+- RLBench import/config smoke:
+  - artifact: `/workspace/VLAarchtests/artifacts/outputs/r3d/rlbench_smokes/smoke_test_output.txt`
+  - status: pass
+  - imports `rlbench`, `pyrep`, `yarr` all resolved
+  - camera contract preserved: `front`, `wrist_left`, `wrist_right` at `224x224`
+- RLBench launch smoke:
+  - artifact stdout: `/workspace/VLAarchtests/artifacts/outputs/r3d/rlbench_smokes/launch_smoke_open_drawer.txt`
+  - artifact stderr: `/workspace/VLAarchtests/artifacts/outputs/r3d/rlbench_smokes/launch_smoke_open_drawer.stderr`
+  - status: pass
+  - `open_drawer` resolves to `RightOpenDrawer`
+  - finite `18`-D action, camera shapes `[224, 224, 3]`, no crash
+- RLBench open-drawer rollout:
+  - artifact: `/workspace/VLAarchtests/artifacts/outputs/r3d/rlbench_open_drawer_r3d_rollout/rollout_eval.json`
+  - status: pass as integration
+  - no import errors
+  - no historical workspace path error string
+  - rollout JSON written
+  - mean success remains `0.0`, so this is plumbing evidence only
+- PerAct2 13-task smoke:
+  - artifact summary JSON: `/workspace/VLAarchtests/artifacts/outputs/r3d/peract2_13_launch_smoke/launch_smoke_summary.json`
+  - artifact summary markdown: `/workspace/VLAarchtests/artifacts/outputs/r3d/peract2_13_launch_smoke/launch_smoke_summary.md`
+  - status: pass as integration
+  - all `13/13` tasks launched
+  - finite action check: `13/13`
+  - summary JSON written
+- Integration caveat:
+  - full multi-task rollout in a single process is not reliable with this CoppeliaSim build. A direct batched `run_rlbench_rollout_eval` attempt hit a Qt/OpenGL segfault after repeated env recycle, and the subprocess-isolated full rollout sweep was too slow to be a reasonable smoke. The accepted PerAct2 artifact is therefore the launch/noop smoke, which matches the stated gate: launch stability, finite actions, and written summary.
+## Final Decision
+- Phase 1: not accepted
+- Phase 2: not accepted
+- Phase 3: accepted
+- Phase 4 integration: accepted
+Overall status: the repo-preserving R3D-VLA refactor is implemented, verified, and benchmarked. The strongest positive result is the RGB-D CLIP phase. The structural planner/world-model claims are still not validated strongly enough on the dummy proxy benchmark to support a stronger paper claim without more work.

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tests/conftest.py ADDED Viewed

	@@ -0,0 +1,168 @@

+import sys
+import pytest
+import torch
+sys.path.insert(0, "/workspace/VLAarchtests/code/reveal_vla_bimanual")
+from models.action_decoder import ChunkDecoderConfig
+from models.backbones import FrozenVLBackboneConfig
+from models.multiview_fusion import MultiViewFusionConfig
+from models.observation_memory import ObservationMemoryConfig
+from models.planner import PlannerConfig
+from models.policy import PolicyConfig
+from models.reveal_head import RevealHeadConfig
+from models.world_model import RevealWMConfig
+from train.trainer import TrainerConfig
+@pytest.fixture
+def tiny_policy_config():
+    def _factory(
+        hidden_dim: int = 16,
+        chunk_size: int = 2,
+        num_candidates: int = 4,
+        top_k: int = 2,
+        field_size: int = 4,
+        belief_map_size: int = 8,
+    ) -> PolicyConfig:
+        return PolicyConfig(
+            backbone=FrozenVLBackboneConfig(
+                hidden_dim=hidden_dim,
+                freeze_backbone=True,
+                gradient_checkpointing=False,
+                use_dummy_backbone=True,
+                depth_patch_size=8,
+            ),
+            fusion=MultiViewFusionConfig(
+                hidden_dim=hidden_dim,
+                num_layers=1,
+                num_heads=4,
+                ff_dim=hidden_dim * 4,
+                dropout=0.0,
+            ),
+            memory=ObservationMemoryConfig(
+                hidden_dim=hidden_dim,
+                num_heads=4,
+                dropout=0.0,
+                history_steps=2,
+                scene_history_steps=2,
+                belief_history_steps=3,
+                max_history_steps=4,
+                scene_bank_size=2,
+                belief_bank_size=2,
+            ),
+            decoder=ChunkDecoderConfig(
+                hidden_dim=hidden_dim,
+                num_heads=4,
+                num_layers=1,
+                ff_dim=hidden_dim * 4,
+                dropout=0.0,
+                chunk_size=chunk_size,
+                num_candidates=num_candidates,
+                num_proposal_modes=6,
+                planner_top_k=top_k,
+            ),
+            reveal_head=RevealHeadConfig(
+                hidden_dim=hidden_dim,
+                num_heads=4,
+                field_size=field_size,
+                belief_map_size=belief_map_size,
+                predict_belief_map=True,
+            ),
+            world_model=RevealWMConfig(
+                hidden_dim=hidden_dim,
+                num_heads=4,
+                field_size=field_size,
+                belief_map_size=belief_map_size,
+                scene_bank_size=2,
+                belief_bank_size=2,
+            ),
+            planner=PlannerConfig(
+                hidden_dim=hidden_dim,
+                num_heads=4,
+                num_layers=1,
+                num_candidates=num_candidates,
+                top_k=top_k,
+            ),
+        )
+    return _factory
+@pytest.fixture
+def tiny_trainer_config():
+    def _factory(policy_type: str = "elastic_reveal") -> TrainerConfig:
+        return TrainerConfig(
+            policy_type=policy_type,
+            use_bf16=False,
+            gradient_checkpointing=False,
+            freeze_backbone=True,
+            plan_during_train=True,
+            plan_during_eval=True,
+        )
+    return _factory
+@pytest.fixture
+def tiny_batch():
+    def _factory(
+        batch_size: int = 2,
+        history_steps: int = 2,
+        resolution: int = 16,
+        chunk_size: int = 2,
+    ) -> dict[str, torch.Tensor | list[str]]:
+        images = torch.rand(batch_size, 3, 3, resolution, resolution)
+        depths = torch.rand(batch_size, 3, 1, resolution, resolution)
+        batch = {
+            "images": images,
+            "depths": depths,
+            "depth_valid": torch.ones_like(depths),
+            "camera_intrinsics": torch.eye(3).view(1, 1, 3, 3).expand(batch_size, 3, 3, 3).clone(),
+            "camera_extrinsics": torch.eye(4).view(1, 1, 4, 4).expand(batch_size, 3, 4, 4).clone(),
+            "proprio": torch.rand(batch_size, 32),
+            "texts": ["test task"] * batch_size,
+            "history_images": torch.rand(batch_size, history_steps, 3, 3, resolution, resolution),
+            "history_depths": torch.rand(batch_size, history_steps, 3, 1, resolution, resolution),
+            "history_depth_valid": torch.ones(batch_size, history_steps, 3, 1, resolution, resolution),
+            "history_proprio": torch.rand(batch_size, history_steps, 32),
+            "history_actions": torch.rand(batch_size, history_steps, 14),
+            "action_chunk": torch.rand(batch_size, chunk_size, 14),
+        }
+        return batch
+    return _factory
+@pytest.fixture
+def tiny_state():
+    def _factory(batch_size: int = 2, field_size: int = 4) -> dict[str, torch.Tensor]:
+        return {
+            "target_belief_field": torch.rand(batch_size, 1, field_size, field_size),
+            "visibility_field": torch.rand(batch_size, 1, field_size, field_size),
+            "clearance_field": torch.rand(batch_size, 2, field_size, field_size),
+            "occluder_contact_field": torch.rand(batch_size, 1, field_size, field_size),
+            "grasp_affordance_field": torch.rand(batch_size, 1, field_size, field_size),
+            "support_stability_field": torch.rand(batch_size, 1, field_size, field_size),
+            "persistence_field": torch.rand(batch_size, 1, field_size, field_size),
+            "reocclusion_field": torch.rand(batch_size, 1, field_size, field_size),
+            "disturbance_field": torch.rand(batch_size, 1, field_size, field_size),
+            "risk_field": torch.rand(batch_size, 1, field_size, field_size),
+            "uncertainty_field": torch.rand(batch_size, 1, field_size, field_size),
+            "access_field": torch.rand(batch_size, 3, field_size, field_size),
+            "support_mode_logits": torch.rand(batch_size, 3),
+            "phase_logits": torch.rand(batch_size, 5),
+            "arm_role_logits": torch.rand(batch_size, 2, 4),
+            "interaction_tokens": torch.rand(batch_size, 8, 16),
+            "field_tokens": torch.rand(batch_size, field_size * field_size, 16),
+            "latent_summary": torch.rand(batch_size, 16),
+            "corridor_logits": torch.rand(batch_size, 3, 32),
+            "persistence_horizon": torch.rand(batch_size, 3),
+            "disturbance_cost": torch.rand(batch_size),
+            "reocclusion_logit": torch.rand(batch_size, 3),
+            "belief_map": torch.rand(batch_size, 1, 8, 8),
+            "compact_state": torch.rand(batch_size, 30),
+        }
+    return _factory

tests/test_action_decoder_equivariance.py ADDED Viewed

	@@ -0,0 +1,19 @@

+import torch
+from models.action_decoder import SymmetricCoordinatedChunkDecoder
+def test_action_decoder_equivariance(tiny_policy_config, tiny_state):
+    config = tiny_policy_config()
+    decoder = SymmetricCoordinatedChunkDecoder(config.decoder)
+    state = tiny_state(field_size=config.reveal_head.field_size)
+    scene_tokens = torch.rand(2, 10, config.backbone.hidden_dim)
+    memory_tokens = torch.rand(2, config.memory.scene_bank_size + config.memory.belief_bank_size, config.backbone.hidden_dim)
+    output = decoder(
+        scene_tokens=scene_tokens,
+        interaction_state=state,
+        memory_tokens=memory_tokens,
+        compute_equivariance_probe=True,
+    )
+    error = (output["equivariance_probe_action_mean"] - output["equivariance_target_action_mean"]).abs().mean()
+    assert float(error) < 0.1

tests/test_dataset_v6_keys.py ADDED Viewed

	@@ -0,0 +1,25 @@

+from sim_reveal.dataset import RGBD_PROXY_DATASET_VERSION, collect_teacher_dataset, dataset_from_bundle
+def test_dataset_v6_keys():
+    bundle = collect_teacher_dataset(
+        episodes_per_proxy=1,
+        resolution=16,
+        history_steps=2,
+        planner_candidates=3,
+        dataset_version=RGBD_PROXY_DATASET_VERSION,
+    )
+    dataset = dataset_from_bundle(bundle, resolution=16)
+    item = dataset[0]
+    for key in (
+        "images",
+        "depths",
+        "depth_valid",
+        "belief_map",
+        "visibility_map",
+        "clearance_map",
+        "support_stability",
+        "reocclusion_target",
+        "candidate_rollout_belief_map",
+    ):
+        assert key in item

tests/test_dual_memory_contract.py ADDED Viewed

	@@ -0,0 +1,17 @@

+import torch
+from models.observation_memory import DualObservationMemory
+def test_dual_memory_contract(tiny_policy_config):
+    config = tiny_policy_config()
+    memory = DualObservationMemory(config.memory)
+    scene_tokens = torch.rand(2, 12, config.backbone.hidden_dim)
+    history_scene_tokens = torch.rand(2, 3, 12, config.backbone.hidden_dim)
+    history_actions = torch.rand(2, 3, 14)
+    output = memory(scene_tokens, history_scene_tokens=history_scene_tokens, history_actions=history_actions)
+    assert output["scene_memory_tokens"].shape[1] == config.memory.scene_bank_size
+    assert output["belief_memory_tokens"].shape[1] == config.memory.belief_bank_size
+    assert output["memory_tokens"].shape[1] == config.memory.scene_bank_size + config.memory.belief_bank_size
+    assert torch.all(output["memory_write_rate"] >= 0.0)
+    assert torch.all(output["memory_write_rate"] <= 1.0)

tests/test_planner_structured_utility.py ADDED Viewed

	@@ -0,0 +1,31 @@

+import torch
+from models.planner import CascadePlanner
+def test_planner_structured_utility(tiny_policy_config, tiny_state):
+    config = tiny_policy_config()
+    planner = CascadePlanner(config.planner)
+    initial_state = tiny_state(batch_size=1, field_size=config.reveal_head.field_size)
+    candidate_chunks = torch.zeros(1, 2, config.decoder.chunk_size, 14)
+    candidate_chunks[:, 0, :, -1] = 2.0
+    rollout_state = {
+        "target_belief_field": torch.zeros(1, 2, config.decoder.chunk_size, 1, config.reveal_head.field_size, config.reveal_head.field_size),
+        "visibility_field": torch.zeros(1, 2, config.decoder.chunk_size, 1, config.reveal_head.field_size, config.reveal_head.field_size),
+        "clearance_field": torch.zeros(1, 2, config.decoder.chunk_size, 2, config.reveal_head.field_size, config.reveal_head.field_size),
+        "occluder_contact_field": torch.zeros(1, 2, config.decoder.chunk_size, 1, config.reveal_head.field_size, config.reveal_head.field_size),
+        "grasp_affordance_field": torch.zeros(1, 2, config.decoder.chunk_size, 1, config.reveal_head.field_size, config.reveal_head.field_size),
+        "support_stability_field": torch.ones(1, 2, config.decoder.chunk_size, 1, config.reveal_head.field_size, config.reveal_head.field_size),
+        "persistence_field": torch.zeros(1, 2, config.decoder.chunk_size, 1, config.reveal_head.field_size, config.reveal_head.field_size),
+        "reocclusion_field": torch.zeros(1, 2, config.decoder.chunk_size, 1, config.reveal_head.field_size, config.reveal_head.field_size),
+        "disturbance_field": torch.zeros(1, 2, config.decoder.chunk_size, 1, config.reveal_head.field_size, config.reveal_head.field_size),
+        "access_field": torch.zeros(1, 2, config.decoder.chunk_size, 3, config.reveal_head.field_size, config.reveal_head.field_size),
+    }
+    rollout_state["target_belief_field"][:, 0] = 2.0
+    rollout_state["visibility_field"][:, 0] = 1.5
+    rollout_state["clearance_field"][:, 0] = 1.0
+    rollout_state["persistence_field"][:, 0] = 1.0
+    rollout_state["access_field"][:, 0] = 2.0
+    selected = planner.select_best(initial_state, candidate_chunks, rollout_state)
+    assert int(selected["best_indices"][0]) == 0
+    assert selected["utility_structured"].shape == (1, 2)

tests/test_policy_topk_cascade.py ADDED Viewed

	@@ -0,0 +1,25 @@

+from train.trainer import build_policy
+def test_policy_topk_cascade(tiny_policy_config, tiny_trainer_config, tiny_batch):
+    config = tiny_policy_config(num_candidates=4, top_k=2)
+    batch = tiny_batch(chunk_size=config.decoder.chunk_size)
+    policy = build_policy(config, tiny_trainer_config(policy_type="elastic_reveal"))
+    output = policy(
+        images=batch["images"],
+        depths=batch["depths"],
+        depth_valid=batch["depth_valid"],
+        camera_intrinsics=batch["camera_intrinsics"],
+        camera_extrinsics=batch["camera_extrinsics"],
+        proprio=batch["proprio"],
+        texts=batch["texts"],
+        history_images=batch["history_images"],
+        history_depths=batch["history_depths"],
+        history_depth_valid=batch["history_depth_valid"],
+        history_proprio=batch["history_proprio"],
+        history_actions=batch["history_actions"],
+        plan=True,
+    )
+    assert output["planner_topk_indices"].shape[1] == config.planner.top_k
+    assert output["planned_rollout"]["target_belief_field"].shape[1] == config.planner.top_k
+    assert (output["best_candidate_indices"] < config.decoder.num_candidates).all()

tests/test_proposal_diversity.py ADDED Viewed

	@@ -0,0 +1,9 @@

+import torch
+from train.losses import proposal_diversity_loss
+def test_proposal_diversity():
+    collapsed = torch.zeros(2, 4, 2, 14)
+    diverse = torch.randn(2, 4, 2, 14)
+    assert proposal_diversity_loss(collapsed) > proposal_diversity_loss(diverse)

tests/test_rgb_backward_compat.py ADDED Viewed

	@@ -0,0 +1,33 @@

+from train.trainer import build_policy
+def test_rgb_backward_compat(tiny_policy_config, tiny_trainer_config, tiny_batch):
+    config = tiny_policy_config()
+    batch = tiny_batch(chunk_size=config.decoder.chunk_size)
+    interaction_policy = build_policy(config, tiny_trainer_config(policy_type="interaction_state"))
+    interaction_output = interaction_policy(
+        images=batch["images"],
+        proprio=batch["proprio"],
+        texts=batch["texts"],
+        history_images=batch["history_images"],
+        history_proprio=batch["history_proprio"],
+        history_actions=batch["history_actions"],
+        plan=True,
+    )
+    assert interaction_output["action_mean"].shape[-1] == 14
+    assert interaction_output["candidate_chunks"].shape[1] == config.decoder.num_candidates
+    elastic_policy = build_policy(config, tiny_trainer_config(policy_type="elastic_reveal"))
+    elastic_output = elastic_policy(
+        images=batch["images"],
+        proprio=batch["proprio"],
+        texts=batch["texts"],
+        history_images=batch["history_images"],
+        history_proprio=batch["history_proprio"],
+        history_actions=batch["history_actions"],
+        plan=True,
+        use_depth=False,
+    )
+    assert elastic_output["action_mean"].shape[-1] == 14
+    assert elastic_output["planned_chunk"].shape == elastic_output["action_mean"].shape

tests/test_rgbd_forward_contract.py ADDED Viewed

	@@ -0,0 +1,28 @@

+from train.trainer import build_policy
+def test_rgbd_forward_contract(tiny_policy_config, tiny_trainer_config, tiny_batch):
+    config = tiny_policy_config()
+    batch = tiny_batch(chunk_size=config.decoder.chunk_size)
+    policy = build_policy(config, tiny_trainer_config(policy_type="elastic_reveal"))
+    output = policy(
+        images=batch["images"],
+        depths=batch["depths"],
+        depth_valid=batch["depth_valid"],
+        camera_intrinsics=batch["camera_intrinsics"],
+        camera_extrinsics=batch["camera_extrinsics"],
+        proprio=batch["proprio"],
+        texts=batch["texts"],
+        history_images=batch["history_images"],
+        history_depths=batch["history_depths"],
+        history_depth_valid=batch["history_depth_valid"],
+        history_proprio=batch["history_proprio"],
+        history_actions=batch["history_actions"],
+        plan=True,
+        compute_equivariance_probe=True,
+    )
+    assert output["action_mean"].shape[0] == batch["images"].shape[0]
+    assert output["proposal_candidates"].shape[1] == config.decoder.num_candidates
+    assert output["planner_topk_indices"].shape[1] == config.planner.top_k
+    assert output["planned_rollout"]["target_belief_field"].shape[1] == config.planner.top_k
+    assert output["equivariance_probe_action_mean"].shape == output["equivariance_target_action_mean"].shape

tests/test_role_loss_permutation.py ADDED Viewed

	@@ -0,0 +1,16 @@

+import torch
+from train.losses import permutation_invariant_role_loss
+def test_role_loss_permutation():
+    logits = torch.tensor(
+        [
+            [[0.1, 4.0, 0.0, -1.0], [0.1, 0.0, 4.0, -1.0]],
+            [[0.1, 0.0, 4.0, -1.0], [0.1, 4.0, 0.0, -1.0]],
+        ],
+        dtype=torch.float32,
+    )
+    loss_original = permutation_invariant_role_loss(logits)
+    loss_swapped = permutation_invariant_role_loss(logits.flip(1))
+    torch.testing.assert_close(loss_original, loss_swapped)

tests/test_world_model_state_contract.py ADDED Viewed

	@@ -0,0 +1,23 @@

+import torch
+from models.world_model import ElasticOcclusionWorldModel
+def test_world_model_state_contract(tiny_policy_config, tiny_state):
+    config = tiny_policy_config()
+    model = ElasticOcclusionWorldModel(config.world_model)
+    state = tiny_state(field_size=config.reveal_head.field_size)
+    action_chunk = torch.rand(2, config.decoder.chunk_size, 14)
+    scene_tokens = torch.rand(2, 12, config.backbone.hidden_dim)
+    state["scene_memory_tokens"] = torch.rand(2, config.memory.scene_bank_size, config.backbone.hidden_dim)
+    state["belief_memory_tokens"] = torch.rand(2, config.memory.belief_bank_size, config.backbone.hidden_dim)
+    output = model(
+        scene_tokens=scene_tokens,
+        interaction_state=state,
+        action_chunk=action_chunk,
+        scene_memory_tokens=state["scene_memory_tokens"],
+        belief_memory_tokens=state["belief_memory_tokens"],
+    )
+    assert output["target_belief_field"].shape[:3] == (2, config.decoder.chunk_size, 1)
+    assert output["scene_memory_tokens"].shape[2] == config.memory.scene_bank_size
+    assert output["belief_memory_tokens"].shape[2] == config.memory.belief_bank_size