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README.md

@@ -0,0 +1,214 @@
+# VLAarchtests Export
+
+Export date: 2026-03-23 UTC
+
+This package contains the code and generated artifacts from the `/workspace` run that built and tested a simulation-first bimanual reveal-and-retrieve prototype.
+
+## Package layout
+
+- `code/reveal_vla_bimanual/`
+  - monorepo code used for the reveal-proxy work and the custom RLBench trainer/eval path
+- `code/upstream_local_patches/`
+  - copies of the two upstream files modified locally during the baseline benchmark work:
+  - `peract_bimanual/agents/bimanual_peract/qattention_peract_bc_agent.py`
+  - `YARR/yarr/runners/_independent_env_runner.py`
+- `artifacts/outputs/`
+  - generated checkpoints, resolved configs, and metrics JSON files
+- `artifacts/reports/`
+  - benchmark reports, rollout reports, and ablation reports
+- `artifacts/logs/`
+  - setup logs, extraction logs, baseline train/eval logs, and saved upstream sanity checkpoints
+- `FILE_MANIFEST.txt`
+  - file list with byte sizes for the uploaded package
+- `export_manifest_data.json`
+  - structured summary of the main metrics and report JSON files
+
+## Not included
+
+- `/workspace/data/`
+  - downloaded RLBench demos and reveal datasets are not included in this export package
+- `/workspace/assets/`
+  - simulator binaries are not included
+- `/workspace/third_party/`
+  - full upstream trees are not included; only the two modified files are copied under `code/upstream_local_patches/`
+
+## Machine and environment facts
+
+- target machine: single RTX 6000 Ada
+- target memory assumption in the project brief: 48 GB VRAM
+- OS target in the setup scripts: Ubuntu 22.04
+- Env A: RLBench / PerAct2 stack under `/workspace/envs/rlbench`
+- Env B: reveal-proxy / Isaac stack under `/workspace/envs/reveal`
+
+## Smoke tests
+
+### RLBench smoke
+
+- script path: `code/reveal_vla_bimanual/sim_rlbench/launch_smoke.py`
+- fixed camera interface:
+  - `front`
+  - `wrist_left`
+  - `wrist_right`
+- observed smoke payload:
+  - RGB shape per camera: `224x224x3`
+  - camera intrinsics shape: `3x3`
+  - camera extrinsics shape: `4x4`
+  - bimanual action shape: `16`
+
+### Isaac / reveal smoke
+
+- script path: `code/reveal_vla_bimanual/sim_reveal/isaac_smoke.py`
+- log file: `artifacts/logs/isaac_smoke.log`
+- observed status: `app ready`
+
+## RLBench baseline sanity tests
+
+Report file:
+- `artifacts/reports/rlbench_subset3_baseline_sanity.md`
+
+Bounded baseline sanity scope:
+- upstream method: `BIMANUAL_PERACT`
+- tasks:
+  - `bimanual_lift_ball`
+  - `bimanual_push_box`
+  - `bimanual_dual_push_buttons`
+- demos per task: `1`
+- training iterations: `1`
+- batch size: `1`
+- eval episodes per task: `1`
+- eval episode length: `5`
+
+Observed replay fill:
+- `bimanual_lift_ball`: `4` keypoints
+- `bimanual_push_box`: `2` keypoints
+- `bimanual_dual_push_buttons`: `4` keypoints
+
+Observed short-eval episode scores:
+- `bimanual_lift_ball`: `0.0`
+- `bimanual_push_box`: `0.0`
+- `bimanual_dual_push_buttons`: `0.0`
+
+Persisted baseline artifacts:
+- `artifacts/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/seed0/weights/0/QAttentionAgent_layer0.pt`
+- `artifacts/logs/rlbench2_subset/multi_3cam_subset/BIMANUAL_PERACT/seed0/weights/0/QAttentionAgent_layer0.pt`
+
+## Reveal-proxy benchmark facts
+
+Primary report files:
+- `artifacts/reports/reveal_eval_v2/reveal_benchmark.md`
+- `artifacts/reports/reveal_eval_v2/reveal_benchmark.json`
+
+Backbone-only proxy benchmark:
+- mean success: `0.9583333333333334`
+- per-task success:
+  - `foliage_proxy`: `0.9583333333333334`
+  - `bag_proxy`: `1.0`
+  - `cloth_proxy`: `0.9166666666666666`
+- visibility integral: `5.28285722186168`
+- corridor availability: `0.7595054432749748`
+- reocclusion rate: `0.0`
+- persistence horizon MAE: `0.0`
+- disturbance cost: `0.1763312140893605`
+
+Reveal-state proxy benchmark:
+- mean success: `0.6944444444444445`
+- per-task success:
+  - `foliage_proxy`: `0.75`
+  - `bag_proxy`: `0.625`
+  - `cloth_proxy`: `0.7083333333333334`
+- visibility integral: `24.614064537816578`
+- corridor availability: `0.8740722197625372`
+- reocclusion rate: `0.006712962962962964`
+- persistence horizon MAE: `1.284850824998643`
+- disturbance cost: `0.44315123330387807`
+
+## Reveal-proxy ablation facts
+
+Report files:
+- `artifacts/reports/reveal_ablation/ablations.md`
+- `artifacts/reports/reveal_ablation/ablations.json`
+
+Observed mean success by ablation:
+- `full_model`: `0.6666666666666666`
+- `no_reveal_state_head`: `0.611111111111111`
+- `no_world_model`: `0.611111111111111`
+- `no_planner_reranking`: `0.611111111111111`
+- `no_support_mode_conditioning`: `0.7222222222222222`
+- `no_wrist_cameras`: `0.75`
+- `no_global_camera`: `0.5555555555555556`
+
+Other recorded ablation metrics are in:
+- `artifacts/reports/reveal_ablation/ablations.json`
+
+## Custom RLBench runs with dummy backbone
+
+Report files:
+- `artifacts/reports/rlbench_custom/rlbench_subset3_custom_eval.md`
+- `artifacts/reports/rlbench_custom/backbone_only_rollout/rollout_eval.json`
+- `artifacts/reports/rlbench_custom/reveal_state_rollout_noplan/rollout_eval.json`
+- `artifacts/reports/rlbench_custom/reveal_state_rollout_plan/rollout_eval.json`
+
+Backbone:
+- frozen dummy backbone
+
+Offline training results:
+- backbone-only:
+  - final train total: `0.00792471425726641`
+  - final val total: `0.005605970580716608`
+- reveal-state:
+  - final train total: `0.007828686845944807`
+  - final val total: `0.0091639062995958`
+
+Live rollout results:
+- backbone-only, `plan=false`: mean success `0.0`
+- reveal-state, `plan=false`: mean success `0.0`
+- reveal-state, `plan=true`: mean success `0.0`
+
+## Custom RLBench runs with frozen CLIP backbone
+
+Report files:
+- `artifacts/reports/rlbench_custom_clip/rlbench_subset3_clip_eval.md`
+- `artifacts/reports/rlbench_custom_clip/backbone_only_rollout/rollout_eval.json`
+- `artifacts/reports/rlbench_custom_clip/reveal_state_rollout_noplan/rollout_eval.json`
+- `artifacts/reports/rlbench_custom_clip/reveal_state_rollout_plan/rollout_eval.json`
+
+Backbone:
+- frozen `openai/clip-vit-base-patch32`
+
+Proxy pretraining results:
+- backbone-only CLIP:
+  - final train total: `0.007774835790102784`
+  - final val total: `0.005187951255634073`
+- reveal-state CLIP:
+  - final train total: `0.3623058025905599`
+  - final val total: `0.3356363290832156`
+
+RLBench offline training results:
+- backbone-only CLIP:
+  - final train total: `0.007243322389241776`
+  - final val total: `0.004669623740794346`
+- reveal-state CLIP:
+  - final train total: `0.0070935887447924045`
+  - final val total: `0.004233352240750238`
+
+Live rollout results:
+- backbone-only CLIP, `plan=false`: mean success `0.0`
+- reveal-state CLIP, `plan=false`: mean success `0.0`
+- reveal-state CLIP, `plan=true`: mean success `0.0`
+
+Per-task live rollout success for all three CLIP rollout runs:
+- `bimanual_lift_ball`: `0.0`
+- `bimanual_push_box`: `0.0`
+- `bimanual_dual_push_buttons`: `0.0`
+
+## Output artifact roots
+
+- proxy checkpoints:
+  - `artifacts/outputs/reveal_runs/`
+- custom RLBench checkpoints:
+  - `artifacts/outputs/rlbench_custom/`
+
+## Notes on scope
+
+- A full official PerAct2 reproduction on the complete task split is not present in this package.
+- The package contains bounded subset runs, smoke tests, proxy benchmarks, ablations, checkpoints, reports, and logs generated during this workspace session.

artifacts/logs/glxgears.log

@@ -0,0 +1 @@
+Error: couldn't open display :99

artifacts/logs/isaac_smoke.log

@@ -0,0 +1,438 @@
+[Warning] [simulation_app.simulation_app] Modules: ['omni.kit_app'] were loaded before SimulationApp was started and might not be loaded correctly.
+[Warning] [simulation_app.simulation_app] Please check to make sure no extra omniverse or pxr modules are imported before the call to SimulationApp(...)
+[Info] [carb] Logging to file: /workspace/envs/reveal/lib/python3.10/site-packages/omni/logs/Kit/Isaac-Sim Python/4.5/kit_20260323_004750.log
+2026-03-23 00:47:50 [0ms] [Warning] [omni.kit.app.plugin] No crash reporter present, dumps uploading isn't available.
+[0.559s] [ext: omni.kit.async_engine-0.0.1] startup
+[2.913s] [ext: omni.metrics.core-0.0.1] startup
+[2.917s] [ext: omni.client.lib-1.0.0] startup
+[2.971s] [ext: omni.blobkey-1.1.2] startup
+[2.974s] [ext: omni.stats-1.0.1] startup
+[2.979s] [ext: omni.datastore-0.0.0] startup
+[2.998s] [ext: omni.client-1.2.2] startup
+[3.014s] [ext: omni.ujitso.default-1.0.0] startup
+[3.022s] [ext: omni.hsscclient-1.1.1] startup
+2026-03-23 00:47:53 [2,958ms] [Warning] [omni.datastore] OmniHub is inaccessible
+[3.049s] [ext: omni.gpu_foundation.shadercache.vulkan-1.0.0] startup
+[3.061s] [ext: omni.assets.plugins-0.0.0] startup
+[3.070s] [ext: omni.gpu_foundation-0.0.0] startup
+[3.121s] [ext: carb.windowing.plugins-1.0.0] startup
+2026-03-23 00:47:53 [3,059ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-03-23 00:47:53 [3,059ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[3.129s] [ext: omni.kit.renderer.init-0.0.0] startup
+2026-03-23 00:47:53 [3,149ms] [Warning] [omni.platforminfo.plugin] failed to open the default display.  Can't verify X Server version.
+
+|---------------------------------------------------------------------------------------------|
+| Driver Version: 570.124.06    | Graphics API: Vulkan
+|=============================================================================================|
+| GPU | Name                             | Active | LDA | GPU Memory | Vendor-ID | LUID       |
+|     |                                  |        |     |            | Device-ID | UUID       |
+|     |                                  |        |     |            | Bus-ID    |            |
+|---------------------------------------------------------------------------------------------|
+| 0   | NVIDIA RTX 6000 Ada Generation   | Yes: 0 |     | 49386   MB | 10de      | 0          |
+|     |                                  |        |     |            | 26b1      | 4231978c.. |
+|     |                                  |        |     |            | 41        |            |
+|=============================================================================================|
+| OS: 22.04.5 LTS (Jammy Jellyfish) ubuntu, Version: 22.04.5, Kernel: 6.8.0-62-generic
+| Processor: AMD EPYC 75F3 32-Core Processor
+| Bare Metal Cores: 64 | Bare Metal Logical Cores: 128
+| Core Usage Quota: 13.6
+|---------------------------------------------------------------------------------------------|
+| Total Memory (MB): 59127 | Free Memory: 55878
+| Total Page/Swap (MB): 0 | Free Page/Swap: 0
+|---------------------------------------------------------------------------------------------|
+2026-03-23 00:47:54 [4,171ms] [Warning] [gpu.foundation.plugin] IOMMU is enabled.
+[4.551s] [ext: omni.kit.pipapi-0.0.0] startup
+[4.556s] [ext: omni.materialx.libs-1.0.6] startup
+[4.576s] [ext: omni.kit.pip_archive-0.0.0] startup
+[4.578s] [ext: omni.usd.config-1.0.5] startup
+[4.673s] [ext: omni.gpucompute.plugins-0.0.0] startup
+[4.677s] [ext: omni.usd.libs-1.0.1] startup
+[4.859s] [ext: omni.mdl-55.0.1] startup
+[4.887s] [ext: omni.iray.libs-0.0.0] startup
+[5.060s] [ext: omni.mdl.neuraylib-0.2.10] startup
+[5.074s] [ext: omni.kit.usd.mdl-1.0.7] startup
+[5.274s] [ext: omni.kit.telemetry-0.5.1] startup
+[5.324s] [ext: omni.kit.loop-isaac-1.2.1] startup
+[5.330s] [ext: omni.kit.test-1.1.2] startup
+[5.524s] [ext: omni.appwindow-1.1.9] startup
+2026-03-23 00:47:56 [5,461ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-03-23 00:47:56 [5,461ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[5.535s] [ext: omni.kit.renderer.core-1.0.2] startup
+2026-03-23 00:47:56 [5,498ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-03-23 00:47:56 [5,498ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-03-23 00:47:56 [5,509ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-03-23 00:47:56 [5,509ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[5.583s] [ext: omni.kit.renderer.capture-0.0.0] startup
+[5.596s] [ext: omni.kit.renderer.imgui-1.0.2] startup
+2026-03-23 00:47:56 [5,552ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-03-23 00:47:56 [5,552ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-03-23 00:47:56 [5,555ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-03-23 00:47:56 [5,555ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+2026-03-23 00:47:56 [5,557ms] [Warning] [carb.windowing-glfw.plugin] GLFW initialization failed.
+2026-03-23 00:47:56 [5,557ms] [Warning] [carb] Failed to startup plugin carb.windowing-glfw.plugin (interfaces: [carb::windowing::IGLContext v1.0],[carb::windowing::IWindowing v1.5]) (impl: carb.windowing-glfw.plugin)
+[6.010s] [ext: omni.ui-2.26.5] startup
+[6.044s] [ext: omni.kit.mainwindow-1.0.3] startup
+[6.051s] [ext: carb.audio-0.1.0] startup
+[6.062s] [ext: omni.uiaudio-1.0.0] startup
+[6.067s] [ext: omni.kit.uiapp-0.0.0] startup
+[6.067s] [ext: omni.usd.schema.metrics.assembler-106.5.0] startup
+[6.094s] [ext: omni.usd.schema.anim-0.0.0] startup
+[6.142s] [ext: omni.usd.schema.audio-0.0.0] startup
+[6.154s] [ext: omni.usd.schema.isaac-3.0.2] startup
+[6.154s] [ext: omni.usd.schema.omnigraph-1.0.0] startup
+[6.173s] [ext: omni.usd.schema.forcefield-106.5.7] startup
+[6.197s] [ext: omni.usd.schema.semantics-0.0.0] startup
+[6.206s] [ext: omni.usd.schema.physx-106.5.7] startup
+[6.266s] [ext: omni.usd.schema.geospatial-0.0.0] startup
+[6.273s] [ext: omni.usd_resolver-1.0.0] startup
+[6.294s] [ext: omni.kit.window.popup_dialog-2.0.24] startup
+[6.311s] [ext: usdrt.scenegraph-7.5.1] startup
+[6.390s] [ext: omni.timeline-1.0.11] startup
+[6.396s] [ext: omni.usd.core-1.4.2] startup
+[6.400s] [ext: omni.resourcemonitor-107.0.0] startup
+[6.410s] [ext: omni.activity.core-1.0.1] startup
+[6.416s] [ext: omni.kit.widget.nucleus_connector-1.1.10] startup
+[6.430s] [ext: omni.hydra.usdrt_delegate-7.5.1] startup
+[6.482s] [ext: omni.kit.actions.core-1.0.0] startup
+[6.495s] [ext: omni.graph.exec-0.9.4] startup
+[6.498s] [ext: omni.kit.commands-1.4.9] startup
+[6.522s] [ext: omni.kit.usd_undo-0.1.8] startup
+[6.527s] [ext: omni.kit.exec.core-0.13.4] startup
+[6.540s] [ext: omni.kit.audiodeviceenum-1.0.1] startup
+[6.549s] [ext: omni.hydra.scene_delegate-0.3.3] startup
+[6.559s] [ext: omni.usd-1.12.4] startup
+[6.678s] [ext: omni.inspect-1.0.1] startup
+[6.684s] [ext: omni.kit.notification_manager-1.0.9] startup
+[6.695s] [ext: omni.graph.core-2.181.8] startup
+[6.703s] [ext: isaacsim.core.deprecation_manager-0.2.2] startup
+[6.708s] [ext: omni.usd.schema.omniscripting-1.0.0] startup
+[6.722s] [ext: isaacsim.robot.schema-3.1.2] startup
+[6.749s] [ext: omni.kit.asset_converter-2.8.3] startup
+[6.784s] [ext: omni.kit.menu.core-1.1.2] startup
+[6.788s] [ext: omni.kvdb-106.5.7] startup
+[6.798s] [ext: omni.kit.widget.context_menu-1.2.4] startup
+[6.804s] [ext: omni.kit.usd.layers-2.2.0] startup
+[6.841s] [ext: omni.kit.property.adapter.core-1.0.2] startup
+[6.865s] [ext: omni.localcache-106.5.7] startup
+[6.875s] [ext: omni.convexdecomposition-106.5.7] startup
+[6.891s] [ext: omni.warp.core-1.5.0] startup
+[7.097s] [ext: omni.kit.context_menu-1.8.3] startup
+[7.109s] [ext: omni.kit.hotkeys.core-1.3.10] startup
+[7.128s] [ext: omni.kit.property.adapter.fabric-1.0.3] startup
+[7.137s] [ext: omni.usdphysics-106.5.7] startup
+[7.144s] [ext: omni.kit.widget.path_field-2.0.11] startup
+[7.150s] [ext: omni.kit.widget.options_menu-1.1.6] startup
+[7.171s] [ext: omni.kit.helper.file_utils-0.1.9] startup
+[7.177s] [ext: omni.kit.widget.browser_bar-2.0.10] startup
+[7.183s] [ext: omni.kit.widget.options_button-1.0.3] startup
+[7.188s] [ext: omni.kit.widget.filebrowser-2.10.52] startup
+[7.220s] [ext: omni.kit.clipboard-1.0.5] startup
+[7.226s] [ext: omni.graph.tools-1.79.1] startup
+[7.396s] [ext: omni.ui.scene-1.11.2] startup
+[7.410s] [ext: omni.graph.image.core-0.6.0] startup
+[7.413s] [ext: omni.kit.window.filepicker-2.11.7] startup
+[7.507s] [ext: omni.kit.widget.searchfield-1.1.8] startup
+[7.514s] [ext: omni.graph.image.nodes-1.3.0] startup
+[7.520s] [ext: omni.graph-1.140.2] startup
+[7.658s] [ext: omni.kit.window.file_exporter-1.0.31] startup
+[7.669s] [ext: omni.kit.widget.filter-1.1.4] startup
+[7.675s] [ext: omni.physx.foundation-106.5.7] startup
+[7.685s] [ext: omni.graph.nodes-1.162.1] startup
+[7.704s] [ext: omni.kit.widget.stage-2.11.6] startup
+[7.767s] [ext: omni.hydra.rtx.shadercache.vulkan-1.0.0] startup
+[7.780s] [ext: omni.hydra.engine.stats-1.0.3] startup
+[7.790s] [ext: omni.graph.action_core-1.1.7] startup
+[7.801s] [ext: omni.kit.widget.highlight_label-1.0.3] startup
+[7.806s] [ext: omni.ujitso.processor.texture-1.0.0] startup
+[7.812s] [ext: omni.index.libs-380600.1777.0] startup
+[7.812s] [ext: omni.kit.window.file_importer-1.1.14] startup
+[7.819s] [ext: omni.kit.stage_template.core-1.1.22] startup
+[7.823s] [ext: omni.volume-0.5.0] startup
+[7.840s] [ext: omni.ujitso.client-0.0.0] startup
+[7.843s] [ext: omni.index-1.0.1] startup
+[7.846s] [ext: omni.kit.window.file-1.3.57] startup
+[7.859s] [ext: omni.hydra.rtx-1.0.0] startup
+2026-03-23 00:47:58 [7,801ms] [Warning] [omni.log] Source: omni.hydra was already registered.
+[7.928s] [ext: omni.kit.viewport.registry-104.0.6] startup
+[7.933s] [ext: omni.kit.viewport.legacy_gizmos-1.0.16] startup
+[7.941s] [ext: omni.kit.raycast.query-1.0.5] startup
+[7.955s] [ext: omni.kit.viewport.scene_camera_model-1.0.5] startup
+[7.966s] [ext: omni.kit.hydra_texture-1.4.0] startup
+[7.978s] [ext: omni.kit.menu.utils-1.7.7] startup
+[8.001s] [ext: omni.kit.window.drop_support-1.0.4] startup
+[8.006s] [ext: omni.kit.widget.viewport-107.0.7] startup
+[8.031s] [ext: omni.kit.material.library-1.5.15] startup
+[8.055s] [ext: omni.kit.window.content_browser_registry-0.0.6] startup
+[8.060s] [ext: omni.kit.viewport.window-107.0.8] startup
+[8.128s] [ext: omni.graph.action_nodes-1.40.1] startup
+[8.140s] [ext: omni.kit.window.property-1.11.5] startup
+[8.170s] [ext: omni.kit.window.content_browser-2.10.3] startup
+[8.226s] [ext: omni.kit.property.adapter.usd-1.0.2] startup
+[8.236s] [ext: omni.kit.viewport.utility-1.0.18] startup
+[8.241s] [ext: omni.graph.action-1.120.0] startup
+[8.244s] [ext: omni.kit.property.usd-4.2.16] startup
+[8.290s] [ext: omni.physx.cooking-106.5.7] startup
+[8.312s] [ext: omni.kit.widget.stage_icons-1.0.6] startup
+[8.321s] [ext: omni.kit.widget.zoombar-1.0.5] startup
+[8.330s] [ext: omni.physics.tensors-106.5.7] startup
+[8.360s] [ext: omni.kit.widget.prompt-1.0.7] startup
+[8.368s] [ext: omni.kit.usd.collect-2.2.22] startup
+[8.383s] [ext: omni.physx-106.5.7] startup
+[8.438s] [ext: omni.kit.window.stage-2.5.11] startup
+[8.458s] [ext: omni.kit.browser.core-2.3.11] startup
+[8.482s] [ext: omni.kit.widget.text_editor-1.0.2] startup
+[8.488s] [ext: omni.physx.tensors-106.5.7] startup
+[8.499s] [ext: omni.kit.tool.collect-2.2.16] startup
+[8.511s] [ext: omni.kit.menu.stage-1.2.5] startup
+[8.520s] [ext: omni.kit.browser.folder.core-1.10.1] startup
+[8.562s] [ext: omni.warp-1.5.0] startup
+[8.596s] [ext: isaacsim.examples.browser-0.1.8] startup
+[8.614s] [ext: omni.physx.stageupdate-106.5.7] startup
+[8.632s] [ext: omni.kit.numpy.common-0.1.2] startup
+[8.637s] [ext: isaacsim.core.version-2.0.2] startup
+[8.643s] [ext: omni.isaac.dynamic_control-1.3.15] startup
+2026-03-23 00:47:59 [8,588ms] [Warning] [omni.isaac.dynamic_control] omni.isaac.dynamic_control is deprecated as of Isaac Sim 4.5. No action is needed from end-users.
+[8.658s] [ext: isaacsim.storage.native-1.0.6] startup
+[8.667s] [ext: omni.kit.menu.create-1.0.17] startup
+[8.673s] [ext: isaacsim.core.utils-2.2.8] startup
+[8.684s] [ext: omni.kit.widget.searchable_combobox-1.0.6] startup
+[8.693s] [ext: omni.kit.primitive.mesh-1.0.17] startup
+[8.731s] [ext: isaacsim.core.simulation_manager-0.3.3] startup
+[14.423s] [ext: omni.kit.scripting-106.5.2] startup
+[14.447s] [ext: omni.kit.stage_templates-1.2.6] startup
+[14.458s] [ext: isaacsim.core.prims-0.3.7] startup
+[14.528s] [ext: isaacsim.replicator.behavior-1.0.8] startup
+[14.534s] [ext: isaacsim.core.api-4.2.16] startup
+[14.603s] [ext: omni.ui_query-1.1.7] startup
+[14.612s] [ext: omni.kit.manipulator.viewport-107.0.1] startup
+[14.622s] [ext: omni.kit.ui_test-1.3.3] startup
+[14.635s] [ext: omni.kit.window.extensions-1.4.25] startup
+[14.677s] [ext: omni.graph.visualization.nodes-2.1.1] startup
+[14.707s] [ext: omni.kit.tool.asset_importer-2.12.2] startup
+[14.752s] [ext: isaacsim.gui.components-1.0.9] startup
+[14.777s] [ext: omni.kit.widget.settings-1.2.2] startup
+[14.792s] [ext: omni.kit.widget.graph-1.12.17] startup
+[14.818s] [ext: omni.kit.window.preferences-1.7.0] startup
+[14.854s] [ext: omni.kit.graph.delegate.default-1.2.2] startup
+[14.859s] [ext: omni.kit.viewport.menubar.core-107.1.2] startup
+[14.946s] [ext: omni.kit.widget.material_preview-1.0.16] startup
+[14.957s] [ext: omni.kit.graph.usd.commands-1.3.1] startup
+[14.963s] [ext: omni.kit.graph.editor.core-1.5.3] startup
+[14.976s] [ext: omni.syntheticdata-0.6.10] startup
+[15.040s] [ext: omni.kit.window.material_graph-1.8.19] startup
+[15.170s] [ext: omni.graph.scriptnode-1.40.1] startup
+[15.176s] [ext: isaacsim.core.cloner-1.3.4] startup
+[15.183s] [ext: omni.replicator.core-1.11.35] startup
+2026-03-23 00:48:06 [15,327ms] [Warning] [omni.replicator.core.scripts.extension] No material configuration file, adding configuration to material settings directly.
+[15.400s] [ext: omni.isaac.cloner-1.0.2] startup
+2026-03-23 00:48:06 [15,337ms] [Warning] [omni.isaac.cloner] omni.isaac.cloner has been deprecated in favor of isaacsim.core.cloner. Please update your code accordingly.
+[15.406s] [ext: isaacsim.core.nodes-2.1.4] startup
+[15.434s] [ext: isaacsim.asset.importer.urdf-2.3.10] startup
+[15.661s] [ext: omni.isaac.core-4.0.3] startup
+2026-03-23 00:48:06 [15,605ms] [Warning] [omni.isaac.core.physics_context.physics_context] omni.isaac.core.physics_context.physics_context has been deprecated in favor of isaacsim.core.api.physics_context.physics_context. Please update your code accordingly.
+2026-03-23 00:48:06 [15,612ms] [Warning] [omni.isaac.core.simulation_context.simulation_context] omni.isaac.core.simulation_context.simulation_context has been deprecated in favor of isaacsim.core.api.simulation_context.simulation_context. Please update your code accordingly.
+2026-03-23 00:48:06 [15,619ms] [Warning] [omni.isaac.core.world.world] omni.isaac.core.world.world has been deprecated in favor of isaacsim.core.api.world.world. Please update your code accordingly.
+2026-03-23 00:48:06 [15,619ms] [Warning] [omni.isaac.core] omni.isaac.core has been deprecated in favor of isaacsim.core.api. Please update your code accordingly.
+[15.693s] [ext: omni.isaac.core_nodes-2.0.2] startup
+2026-03-23 00:48:06 [15,655ms] [Warning] [omni.isaac.core_nodes] omni.isaac.core_nodes has been deprecated in favor of isaacsim.core.nodes. Please update your code accordingly.
+[15.724s] [ext: omni.anim.curve.core-1.2.0] startup
+[15.793s] [ext: isaacsim.robot_motion.lula-4.0.4] startup
+[15.836s] [ext: isaacsim.asset.importer.mjcf-2.3.3] startup
+[15.862s] [ext: isaacsim.robot_motion.motion_generation-8.0.6] startup
+[15.915s] [ext: isaacsim.asset.browser-1.3.4] startup
+[16.184s] [ext: isaacsim.robot.surface_gripper-2.0.6] startup
+[16.212s] [ext: omni.kit.selection-0.1.5] startup
+[16.229s] [ext: isaacsim.robot_motion.lula_test_widget-1.0.5] startup
+[16.248s] [ext: omni.isaac.assets_check-0.3.9] startup
+2026-03-23 00:48:06 [16,187ms] [Warning] [omni.isaac.assets_check] omni.isaac.assets_check has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[16.259s] [ext: isaacsim.robot.manipulators-3.0.4] startup
+[16.300s] [ext: isaacsim.sensors.physics-0.3.5] startup
+[16.342s] [ext: isaacsim.gui.menu-2.0.9] startup
+[16.454s] [ext: omni.isaac.lula_test_widget-1.0.2] startup
+2026-03-23 00:48:07 [16,394ms] [Warning] [omni.isaac.lula_test_widget] omni.isaac.lula_test_widget has been deprecated in favor of isaacsim.robot_motion.lula_test_widget. Please update your code accordingly.
+[16.463s] [ext: omni.sensors.nv.common-2.5.0-coreapi] startup
+[16.542s] [ext: omni.isaac.manipulators-3.0.3] startup
+2026-03-23 00:48:07 [16,477ms] [Warning] [omni.isaac.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-03-23 00:48:07 [16,479ms] [Warning] [omni.isaac.manipulators.controllers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-03-23 00:48:07 [16,481ms] [Warning] [omni.isaac.manipulators.controllers.pick_place_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-03-23 00:48:07 [16,490ms] [Warning] [omni.isaac.manipulators.controllers.stacking_controller] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-03-23 00:48:07 [16,495ms] [Warning] [omni.isaac.manipulators.grippers] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-03-23 00:48:07 [16,497ms] [Warning] [omni.isaac.manipulators.grippers.gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-03-23 00:48:07 [16,499ms] [Warning] [omni.isaac.manipulators.grippers.parallel_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-03-23 00:48:07 [16,501ms] [Warning] [omni.isaac.manipulators.grippers.surface_gripper] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-03-23 00:48:07 [16,503ms] [Warning] [omni.isaac.manipulators.manipulators] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+2026-03-23 00:48:07 [16,505ms] [Warning] [omni.isaac.manipulators.manipulators.single_manipulator] omni.isaac.manipulators has been deprecated in favor of isaacsim.robot.manipulators. Please update your code accordingly.
+[16.574s] [ext: isaacsim.robot.policy.examples-4.0.3] startup
+[16.590s] [ext: omni.isaac.menu-1.0.2] startup
+2026-03-23 00:48:07 [16,529ms] [Warning] [omni.isaac.menu] omni.isaac.menu has been deprecated in favor of isaacsim.gui.menu. Please update your code accordingly.
+[16.598s] [ext: omni.isaac.motion_generation-8.0.2] startup
+2026-03-23 00:48:07 [16,535ms] [Warning] [omni.isaac.motion_generation] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,537ms] [Warning] [omni.isaac.motion_generation.articulation_kinematics_solver] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,539ms] [Warning] [omni.isaac.motion_generation.articulation_motion_policy] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,540ms] [Warning] [omni.isaac.motion_generation.articulation_trajectory] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,543ms] [Warning] [omni.isaac.motion_generation.kinematics_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,545ms] [Warning] [omni.isaac.motion_generation.lula] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,547ms] [Warning] [omni.isaac.motion_generation.lula.kinematics] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,549ms] [Warning] [omni.isaac.motion_generation.lula.motion_policies] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,555ms] [Warning] [omni.isaac.motion_generation.lula.path_planners] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,557ms] [Warning] [omni.isaac.motion_generation.lula.trajectory_generator] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,560ms] [Warning] [omni.isaac.motion_generation.motion_policy_controller] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,562ms] [Warning] [omni.isaac.motion_generation.motion_policy_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,563ms] [Warning] [omni.isaac.motion_generation.path_planner_visualizer] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,565ms] [Warning] [omni.isaac.motion_generation.path_planning_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,567ms] [Warning] [omni.isaac.motion_generation.trajectory] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+2026-03-23 00:48:07 [16,569ms] [Warning] [omni.isaac.motion_generation.world_interface] omni.isaac.motion_generation has been deprecated in favor of isaacsim.robot_motion.motion_generation. Please update your code accordingly.
+[16.638s] [ext: omni.sensors.nv.materials-1.4.0-coreapi] startup
+[16.676s] [ext: omni.isaac.nucleus-1.0.3] startup
+2026-03-23 00:48:07 [16,611ms] [Warning] [omni.isaac.nucleus] omni.isaac.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+2026-03-23 00:48:07 [16,613ms] [Warning] [omni.isaac.nucleus.nucleus] omni.isaac.nucleus.nucleus has been deprecated in favor of isaacsim.storage.native. Please update your code accordingly.
+[16.682s] [ext: omni.isaac.quadruped-3.0.2] startup
+2026-03-23 00:48:07 [16,617ms] [Warning] [omni.isaac.quadruped] omni.isaac.quadruped has been deprecated in favor of isaacsim.robot.policy.examples. Please update your code accordingly.
+[16.686s] [ext: omni.kit.manipulator.selector-1.1.1] startup
+[16.699s] [ext: omni.sensors.nv.wpm-2.4.0-coreapi] startup
+[16.717s] [ext: omni.sensors.nv.lidar-2.6.3-coreapi] startup
+[16.749s] [ext: omni.sensors.nv.ids-1.4.0-coreapi] startup
+[16.767s] [ext: isaacsim.robot.manipulators.examples-1.0.3] startup
+[16.773s] [ext: isaacsim.util.debug_draw-2.0.2] startup
+[16.789s] [ext: omni.sensors.tiled-0.0.6] startup
+[16.796s] [ext: omni.sensors.nv.radar-2.6.1-coreapi] startup
+[16.824s] [ext: omni.kit.widget.toolbar-1.7.3] startup
+[16.871s] [ext: omni.kit.manipulator.transform-106.0.1] startup
+[16.896s] [ext: isaacsim.sensors.physx-2.2.4] startup
+[16.917s] [ext: isaacsim.sensors.rtx-13.6.3] startup
+[16.946s] [ext: isaacsim.sensors.camera-0.2.9] startup
+[16.972s] [ext: isaacsim.cortex.framework-1.0.2] startup
+[16.978s] [ext: omni.kit.manipulator.tool.snap-1.5.12] startup
+[17.042s] [ext: omni.isaac.range_sensor-4.0.2] startup
+[17.071s] [ext: omni.isaac.surface_gripper-2.0.2] startup
+2026-03-23 00:48:07 [17,006ms] [Warning] [omni.isaac.surface_gripper] omni.isaac.surface_gripper has been deprecated in favor of isaacsim.robot.surface_gripper. Please update your code accordingly.
+[17.075s] [ext: omni.isaac.sensor-13.0.3] startup
+2026-03-23 00:48:07 [17,012ms] [Warning] [omni.isaac.sensor] omni.isaac.sensor has been deprecated in favor of isaacsim.sensors.camera, isaacsim.sensors.physics, isaacsim.sensors.physx, and isaacsim.sensors.rtx. Please update your code accordingly.
+2026-03-23 00:48:07 [17,014ms] [Warning] [omni.isaac.sensor.camera] omni.isaac.sensor.camera has been deprecated in favor of isaacsim.sensors.camera.camera. Please update your code accordingly.
+2026-03-23 00:48:07 [17,016ms] [Warning] [omni.isaac.sensor.camera_view] omni.isaac.sensor.camera_view has been deprecated in favor of isaacsim.sensors.camera.camera_view. Please update your code accordingly.
+2026-03-23 00:48:07 [17,017ms] [Warning] [omni.isaac.sensor.commands] omni.isaac.sensor.commands has been deprecated in favor of isaacsim.sensors.physics.commands, isaacsim.sensors.physx.commands, and isaacsim.sensors.rtx.commands. Please update your code accordingly.
+2026-03-23 00:48:07 [17,019ms] [Warning] [omni.isaac.sensor.contact_sensor] omni.isaac.sensor.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.contact_sensor. Please update your code accordingly.
+2026-03-23 00:48:07 [17,021ms] [Warning] [omni.isaac.sensor.imu_sensor] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.imu_sensor. Please update your code accordingly.
+2026-03-23 00:48:07 [17,022ms] [Warning] [omni.isaac.sensor.lidar_rtx] omni.isaac.sensor.lidar_rtx has been deprecated in favor of isaacsim.sensors.rtx.lidar_rtx. Please update your code accordingly.
+2026-03-23 00:48:07 [17,024ms] [Warning] [omni.isaac.sensor.rotating_lidar_physX] omni.isaac.sensor.imu_sensor has been deprecated in favor of isaacsim.sensors.physix.rotating_lidar_physX. Please update your code accordingly.
+2026-03-23 00:48:07 [17,030ms] [Warning] [omni.isaac.sensor.scripts.samples.contact_sensor] omni.isaac.sensor.scripts.samples.contact_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.contact_sensor. Please update your code accordingly.
+2026-03-23 00:48:07 [17,032ms] [Warning] [omni.isaac.sensor.scripts.samples.imu_sensor] omni.isaac.sensor.scripts.samples.imu_sensor has been deprecated in favor of isaacsim.sensors.physics.scripts.samples.imu_sensor. Please update your code accordingly.
+2026-03-23 00:48:07 [17,033ms] [Warning] [omni.isaac.sensor.scripts.samples.lightbeam_sensor] omni.isaac.sensor.scripts.samples.lightbeam_sensor has been deprecated in favor of isaacsim.sensors.physx.scripts.samples.lightbeam_sensor. Please update your code accordingly.
+[17.102s] [ext: omni.isaac.cortex-1.0.2] startup
+2026-03-23 00:48:07 [17,038ms] [Warning] [omni.isaac.cortex] omni.isaac.cortex has been deprecated in favor of isaacsim.cortex.framework. Please update your code accordingly.
+[17.107s] [ext: omni.kit.viewport.manipulator.transform-107.0.4] startup
+[17.125s] [ext: omni.debugdraw-0.1.3] startup
+[17.139s] [ext: omni.isaac.universal_robots-1.0.2] startup
+2026-03-23 00:48:07 [17,074ms] [Warning] [omni.isaac.universal_robots] omni.isaac.universal_robots has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
+2026-03-23 00:48:07 [17,075ms] [Warning] [omni.isaac.universal_robots.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
+2026-03-23 00:48:07 [17,081ms] [Warning] [omni.isaac.universal_robots.ur10] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.universal_robots. Please update your code accordingly.
+[17.149s] [ext: omni.isaac.utils-2.0.2] startup
+[17.162s] [ext: omni.kit.manipulator.prim.core-107.0.7] startup
+[17.194s] [ext: omni.fabric.commands-1.1.5] startup
+[17.209s] [ext: omni.kit.manipulator.selection-106.0.1] startup
+[17.218s] [ext: omni.kit.viewport.actions-107.0.0] startup
+[17.231s] [ext: omni.kit.manipulator.prim.usd-107.0.3] startup
+[17.237s] [ext: omni.kit.manipulator.prim.fabric-107.0.4] startup
+[17.246s] [ext: isaacsim.cortex.behaviors-2.0.3] startup
+[17.252s] [ext: omni.kit.widget.layers-1.8.2] startup
+[17.320s] [ext: omni.kit.viewport.menubar.display-107.0.3] startup
+[17.334s] [ext: omni.kit.manipulator.prim-107.0.0] startup
+[17.336s] [ext: omni.isaac.cortex.sample_behaviors-2.0.2] startup
+2026-03-23 00:48:08 [17,269ms] [Warning] [omni.isaac.cortex.sample_behaviors] omni.isaac.cortex.sample_behaviors has been deprecated in favor of isaacsim.cortex.behaviors. Please update your code accordingly.
+[17.338s] [ext: omni.graph.ui_nodes-1.40.1] startup
+[17.358s] [ext: omni.usdphysics.ui-106.5.7] startup
+[17.411s] [ext: omni.physx.commands-106.5.7] startup
+[17.422s] [ext: omni.kit.property.camera-1.0.9] startup
+[17.430s] [ext: omni.hydra.scene_api-0.1.2] startup
+[17.441s] [ext: omni.kit.property.geometry-1.3.3] startup
+[17.457s] [ext: omni.kit.property.light-1.0.11] startup
+[17.468s] [ext: omni.physx.ui-106.5.7] startup
+[17.565s] [ext: omni.kit.property.material-1.10.17] startup
+[17.608s] [ext: omni.kit.property.render-1.1.3] startup
+[17.615s] [ext: omni.kit.property.transform-1.5.10] startup
+[17.632s] [ext: omni.kit.property.audio-1.0.16] startup
+[17.642s] [ext: isaacsim.gui.property-1.0.4] startup
+[17.651s] [ext: omni.physx.demos-106.5.7] startup
+[17.765s] [ext: omni.kit.property.physx-106.5.7] startup
+[17.850s] [ext: omni.isaac.lula-4.0.2] startup
+2026-03-23 00:48:08 [17,786ms] [Warning] [omni.isaac.lula] omni.isaac.lula has been deprecated in favor of isaacsim.robot_motion.lula. Please update your code accordingly.
+[17.855s] [ext: omni.kit.property.bundle-1.3.2] startup
+[17.864s] [ext: omni.kit.property.isaac-1.0.2] startup
+2026-03-23 00:48:08 [17,799ms] [Warning] [omni.kit.property.isaac] omni.kit.property.isaac has been deprecated in favor of isaacsim.gui.property. Please update your code accordingly.
+2026-03-23 00:48:08 [17,800ms] [Warning] [omni.kit.property.isaac.widgets] omni.kit.property.isaac.widgets has been deprecated in favor of isaacsim.gui.property.widgets. Please update your code accordingly.
+[17.869s] [ext: omni.physx.vehicle-106.5.7] startup
+[17.933s] [ext: omni.kit.viewport.menubar.camera-107.0.2] startup
+[17.960s] [ext: omni.kit.viewport.menubar.lighting-106.0.2] startup
+[17.977s] [ext: omni.kit.viewport.menubar.render-107.0.8] startup
+[17.991s] [ext: omni.kit.viewport.menubar.settings-107.0.3] startup
+[18.012s] [ext: omni.kit.window.console-0.2.14] startup
+[18.037s] [ext: omni.physx.camera-106.5.7] startup
+[18.064s] [ext: omni.kit.window.toolbar-1.6.2] startup
+[18.073s] [ext: omni.isaac.version-2.0.2] startup
+2026-03-23 00:48:08 [18,007ms] [Warning] [omni.isaac.version] omni.isaac.version has been deprecated in favor of isaacsim.core.version. Please update your code accordingly.
+[18.076s] [ext: isaacsim.robot.wheeled_robots-4.0.3] startup
+[18.113s] [ext: omni.physx.cct-106.5.7] startup
+[18.150s] [ext: omni.physx.graph-106.5.7] startup
+[18.196s] [ext: isaacsim.replicator.writers-1.0.1] startup
+[18.391s] [ext: omni.physx.supportui-106.5.7] startup
+[18.490s] [ext: omni.physx.telemetry-106.5.7] startup
+[18.518s] [ext: omni.isaac.wheeled_robots-3.0.3] startup
+2026-03-23 00:48:09 [18,456ms] [Warning] [omni.isaac.wheeled_robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,459ms] [Warning] [omni.isaac.wheeled_robots.controllers] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,461ms] [Warning] [omni.isaac.wheeled_robots.controllers.ackermann_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,465ms] [Warning] [omni.isaac.wheeled_robots.controllers.differential_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,470ms] [Warning] [omni.isaac.wheeled_robots.controllers.holonomic_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,474ms] [Warning] [omni.isaac.wheeled_robots.controllers.quintic_path_planner] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,477ms] [Warning] [omni.isaac.wheeled_robots.controllers.stanley_control] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,478ms] [Warning] [omni.isaac.wheeled_robots.controllers.wheel_base_pose_controller] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,480ms] [Warning] [omni.isaac.wheeled_robots.impl] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,483ms] [Warning] [omni.isaac.wheeled_robots.robots] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,485ms] [Warning] [omni.isaac.wheeled_robots.robots.holonomic_robot_usd_setup] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+2026-03-23 00:48:09 [18,488ms] [Warning] [omni.isaac.wheeled_robots.robots.wheeled_robot] omni.isaac.wheeled_robots has been deprecated in favor of isaacsim.robot.wheeled_robots. Please update your code accordingly.
+[18.557s] [ext: omni.isaac.franka-1.0.2] startup
+2026-03-23 00:48:09 [18,497ms] [Warning] [omni.isaac.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-03-23 00:48:09 [18,500ms] [Warning] [omni.isaac.franka.franka] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+2026-03-23 00:48:09 [18,512ms] [Warning] [omni.isaac.franka.kinematics_solver] omni.isaac.franka has been deprecated in favor of isaacsim.robot.manipulators.examples.franka. Please update your code accordingly.
+[18.581s] [ext: isaacsim.replicator.domain_randomization-1.0.2] startup
+[18.608s] [ext: isaacsim.replicator.examples-1.1.2] startup
+[18.621s] [ext: omni.kit.window.status_bar-0.1.7] startup
+[18.670s] [ext: omni.rtx.window.settings-0.6.17] startup
+[18.725s] [ext: omni.usd.metrics.assembler-106.5.0] startup
+[18.765s] [ext: omni.physx.bundle-106.5.7] startup
+[18.766s] [ext: isaacsim.app.about-2.0.7] startup
+[18.780s] [ext: omni.replicator.isaac-2.0.3] startup
+2026-03-23 00:48:09 [18,717ms] [Warning] [omni.replicator.isaac] omni.replicator.isaac has been deprecated in favor of isaacsim.replicator.domain_randomization, isaacsim.replicator.examples, isaacsim.replicator.writers. Please update your code accordingly.
+[18.786s] [ext: omni.replicator.replicator_yaml-2.0.10] startup
+[18.887s] [ext: omni.rtx.settings.core-0.6.3] startup
+[18.916s] [ext: omni.usd.metrics.assembler.ui-106.5.0] startup
+[18.955s] [ext: isaacsim.simulation_app-2.4.2] startup
+[18.959s] [ext: omni.isaac.window.about-2.0.2] startup
+2026-03-23 00:48:09 [18,899ms] [Warning] [omni.isaac.window.about] omni.isaac.window.about has been deprecated in favor of isaacsim.app.about. Please update your code accordingly.
+2026-03-23 00:48:09 [18,901ms] [Warning] [omni.isaac.window.about.about] omni.isaac.window.about.about has been deprecated in favor of isaacsim.app.about.about. Please update your code accordingly.
+[18.970s] [ext: semantics.schema.editor-0.3.10] startup
+[18.987s] [ext: omni.kit.ui.actions-1.0.2] startup
+[18.998s] [ext: semantics.schema.property-1.0.5] startup
+[19.008s] [ext: omni.kit.manipulator.camera-106.0.3] startup
+[19.039s] [ext: omni.isaac.kit-2.0.3] startup
+2026-03-23 00:48:09 [18,975ms] [Warning] [omni.isaac.kit] omni.isaac.kit has been deprecated in favor of isaacsim.simulation_app. Please update your code accordingly.
+[19.044s] [ext: omni.isaac.asset_browser-1.0.2] startup
+2026-03-23 00:48:09 [18,980ms] [Warning] [omni.isaac.asset_browser] omni.isaac.asset_browser has been deprecated in favor of isaacsim.asset.browser. Please update your code accordingly.
+[19.049s] [ext: isaacsim.core.throttling-2.0.2] startup
+[19.059s] [ext: omni.kit.menu.common-1.1.9] startup
+[19.072s] [ext: isaacsim.exp.base-4.5.0] startup
+[19.074s] [ext: isaacsim.exp.base.python-4.5.0] startup
+[19.081s] Simulation App Starting
+2026-03-23 00:48:09 [19,146ms] [Warning] [carb.audio.device] audio device is misconfigured or broken {deviceIndex = 0, name = 'default'} (The device is likely misconfigured, check your $HOME/.asoundrc)
+2026-03-23 00:48:09 [19,146ms] [Warning] [carb.audio.output] failed to retrieve the capabilities for device 0 {result = eDeviceLost (2)}
+2026-03-23 00:48:09 [19,146ms] [Warning] [carb.audio.context] failed to set the requested output during context creation.  Using a null streamer instead {result = eDeviceLost (2)}
+[19.281s] app ready
+2026-03-23 00:48:10 [19,835ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 7508933632
+2026-03-23 00:48:10 [19,835ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid false, within: false
+2026-03-23 00:48:10 [19,835ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : decrement: 167690, decrement size: 7433845248
+2026-03-23 00:48:10 [19,835ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : New limit 9574251 (slope: 447, intercept: 13179904)
+2026-03-23 00:48:10 [19,835ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit buffer size 4287216384
+2026-03-23 00:48:10 [19,835ms] [Warning] [rtx.scenedb.plugin] SceneDbContext : TLAS limit : valid true, within: true
+2026-03-23 00:48:10 [20,143ms] [Warning] [carb.graphics-vulkan.plugin] Trying to initialize NGX without vkGetInstanceProcAddr and vkGetDeviceProcAddr pointer-to-functions.
+2026-03-23 00:48:10 [20,144ms] [Error] [carb.graphics-vulkan.plugin] Could not get NGX parameters block because NGX isn't enabled.
+2026-03-23 00:48:10 [20,145ms] [Error] [carb.graphics-vulkan.plugin] Failed to create NGX context.
+Interrupted system call ; error code 4

artifacts/logs/rlbench2_dataset_train.log

@@ -0,0 +1,20 @@
+[plan] bimanual_push_box.train.squashfs
+       url=https://dataset.cs.washington.edu/fox/bimanual/image_size_256/bimanual_push_box.train.squashfs
+       archive=/workspace/data/rlbench2/_archives/image_size_256/bimanual_push_box.train.squashfs
+  % Total    % Received % Xferd  Average Speed   Time    Time     Time  Current
+                                 Dload  Upload   Total   Spent    Left  Speed
+
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+[done] downloaded bimanual_push_box.train.squashfs
+[plan] bimanual_lift_ball.train.squashfs
+       url=https://dataset.cs.washington.edu/fox/bimanual/image_size_256/bimanual_lift_ball.train.squashfs
+       archive=/workspace/data/rlbench2/_archives/image_size_256/bimanual_lift_ball.train.squashfs
+  % Total    % Received % Xferd  Average Speed   Time    Time     Time  Current
+                                 Dload  Upload   Total   Spent    Left  Speed
+
  0     0    0     0    0     0      0      0 --:--:-- --:--:-- --:--:--     0
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+[done] downloaded bimanual_lift_ball.train.squashfs
+[plan] bimanual_dual_push_buttons.train.squashfs
+       url=https://dataset.cs.washington.edu/fox/bimanual/image_size_256/bimanual_dual_push_buttons.train.squashfs
+       archive=/workspace/data/rlbench2/_archives/image_size_256/bimanual_dual_push_buttons.train.squashfs
+  % Total    % Received % Xferd  Average Speed   Time    Time     Time  Current
+                                 Dload  Upload   Total   Spent    Left  Speed
+
  0     0    0     0    0     0      0      0 --:--:-- --:--:-- --:--:--     0
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artifacts/logs/rlbench2_smoke_train/bimanual_lift_ball_smoke/BIMANUAL_PERACT/.hydra/config.yaml

@@ -0,0 +1,112 @@
+method:
+  name: BIMANUAL_PERACT
+  robot_name: bimanual
+  agent_type: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 8
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+ddp:
+  master_addr: localhost
+  master_port: '0'
+  num_devices: 1
+rlbench:
+  task_name: bimanual_lift_ball_smoke
+  tasks:
+  - bimanual_lift_ball
+  demos: 1
+  demo_path: /workspace/data/rlbench2_smoke
+  episode_length: 25
+  cameras:
+  - front
+  - wrist_left
+  - wrist_right
+  camera_resolution:
+  - 224
+  - 224
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: false
+  path: /workspace/replays/rlbench2_smoke_train
+  max_parallel_processes: 1
+framework:
+  log_freq: 1
+  save_freq: 1
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 0
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 1
+  gpu: 0
+  env_gpu: 0
+  logdir: /workspace/logs/rlbench2_smoke_train
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: false
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint

artifacts/logs/rlbench2_smoke_train/bimanual_lift_ball_smoke/BIMANUAL_PERACT/.hydra/hydra.yaml

@@ -0,0 +1,177 @@
+hydra:
+  run:
+    dir: ${framework.logdir}/${rlbench.task_name}/${method.name}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - method=BIMANUAL_PERACT
+    - rlbench.task_name=bimanual_lift_ball_smoke
+    - rlbench.tasks=[bimanual_lift_ball]
+    - rlbench.demos=1
+    - rlbench.demo_path=/workspace/data/rlbench2_smoke
+    - replay.path=/workspace/replays/rlbench2_smoke_train
+    - framework.logdir=/workspace/logs/rlbench2_smoke_train
+    - framework.training_iterations=1
+    - framework.gpu=0
+    - framework.env_gpu=0
+    - framework.start_seed=0
+    - ddp.num_devices=1
+    - rlbench.cameras=[front,wrist_left,wrist_right]
+    - rlbench.camera_resolution=[224,224]
+    - framework.transitions_before_train=0
+    - framework.log_freq=1
+    - framework.save_freq=1
+    - framework.load_existing_weights=False
+    - framework.num_workers=0
+    - replay.batch_size=1
+    - replay.use_disk=False
+    - replay.max_parallel_processes=1
+  job:
+    name: train
+    chdir: null
+    override_dirname: ddp.num_devices=1,framework.env_gpu=0,framework.gpu=0,framework.load_existing_weights=False,framework.log_freq=1,framework.logdir=/workspace/logs/rlbench2_smoke_train,framework.num_workers=0,framework.save_freq=1,framework.start_seed=0,framework.training_iterations=1,framework.transitions_before_train=0,method=BIMANUAL_PERACT,replay.batch_size=1,replay.max_parallel_processes=1,replay.path=/workspace/replays/rlbench2_smoke_train,replay.use_disk=False,rlbench.camera_resolution=[224,224],rlbench.cameras=[front,wrist_left,wrist_right],rlbench.demo_path=/workspace/data/rlbench2_smoke,rlbench.demos=1,rlbench.task_name=bimanual_lift_ball_smoke,rlbench.tasks=[bimanual_lift_ball]
+    id: ???
+    num: ???
+    config_name: config
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /workspace/third_party/peract_bimanual
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /workspace/third_party/peract_bimanual/conf
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /workspace/logs/rlbench2_smoke_train/bimanual_lift_ball_smoke/BIMANUAL_PERACT
+    choices:
+      method: BIMANUAL_PERACT
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

artifacts/logs/rlbench2_smoke_train/bimanual_lift_ball_smoke/BIMANUAL_PERACT/.hydra/overrides.yaml

@@ -0,0 +1,22 @@
+- method=BIMANUAL_PERACT
+- rlbench.task_name=bimanual_lift_ball_smoke
+- rlbench.tasks=[bimanual_lift_ball]
+- rlbench.demos=1
+- rlbench.demo_path=/workspace/data/rlbench2_smoke
+- replay.path=/workspace/replays/rlbench2_smoke_train
+- framework.logdir=/workspace/logs/rlbench2_smoke_train
+- framework.training_iterations=1
+- framework.gpu=0
+- framework.env_gpu=0
+- framework.start_seed=0
+- ddp.num_devices=1
+- rlbench.cameras=[front,wrist_left,wrist_right]
+- rlbench.camera_resolution=[224,224]
+- framework.transitions_before_train=0
+- framework.log_freq=1
+- framework.save_freq=1
+- framework.load_existing_weights=False
+- framework.num_workers=0
+- replay.batch_size=1
+- replay.use_disk=False
+- replay.max_parallel_processes=1

artifacts/logs/rlbench2_smoke_train/bimanual_lift_ball_smoke/BIMANUAL_PERACT/seed0/config.yaml

@@ -0,0 +1,112 @@
+method:
+  name: BIMANUAL_PERACT
+  robot_name: bimanual
+  agent_type: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 8
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+ddp:
+  master_addr: localhost
+  master_port: '0'
+  num_devices: 1
+rlbench:
+  task_name: bimanual_lift_ball_smoke
+  tasks:
+  - bimanual_lift_ball
+  demos: 1
+  demo_path: /workspace/data/rlbench2_smoke
+  episode_length: 25
+  cameras:
+  - front
+  - wrist_left
+  - wrist_right
+  camera_resolution:
+  - 224
+  - 224
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: false
+  path: /workspace/replays/rlbench2_smoke_train
+  max_parallel_processes: 1
+framework:
+  log_freq: 1
+  save_freq: 1
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 0
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 1
+  gpu: 0
+  env_gpu: 0
+  logdir: /workspace/logs/rlbench2_smoke_train
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: false
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint

artifacts/logs/rlbench2_smoke_train/bimanual_lift_ball_smoke/BIMANUAL_PERACT/seed0/training.log

@@ -0,0 +1,2 @@
+# Starting training from weights: 0 to 1# Training started on: 2026-03-23T00:17:27.147893
+# Starting training from weights: 0 to 1# Training started on: 2026-03-23T01:06:27.837264

artifacts/logs/rlbench2_smoke_train/bimanual_lift_ball_smoke/BIMANUAL_PERACT/train.log

@@ -0,0 +1,232 @@
+[2026-03-23 00:17:27,146][root][INFO] - 
+method:
+  name: BIMANUAL_PERACT
+  robot_name: bimanual
+  agent_type: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 8
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+ddp:
+  master_addr: localhost
+  master_port: '0'
+  num_devices: 1
+rlbench:
+  task_name: bimanual_lift_ball_smoke
+  tasks:
+  - bimanual_lift_ball
+  demos: 1
+  demo_path: /workspace/data/rlbench2_smoke
+  episode_length: 25
+  cameras:
+  - front
+  - wrist_left
+  - wrist_right
+  camera_resolution:
+  - 224
+  - 224
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: false
+  path: /workspace/replays/rlbench2_smoke_train
+  max_parallel_processes: 1
+framework:
+  log_freq: 1
+  save_freq: 1
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 0
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 1
+  gpu: 0
+  env_gpu: 0
+  logdir: /workspace/logs/rlbench2_smoke_train
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: false
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint
+
+[2026-03-23 00:17:27,146][root][INFO] - CWD:/workspace/logs/rlbench2_smoke_train/bimanual_lift_ball_smoke/BIMANUAL_PERACT
+[2026-03-23 00:17:27,154][root][INFO] - Starting seed 0.
+[2026-03-23 01:06:27,835][root][INFO] - 
+method:
+  name: BIMANUAL_PERACT
+  robot_name: bimanual
+  agent_type: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 8
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+ddp:
+  master_addr: localhost
+  master_port: '0'
+  num_devices: 1
+rlbench:
+  task_name: bimanual_lift_ball_smoke
+  tasks:
+  - bimanual_lift_ball
+  demos: 1
+  demo_path: /workspace/data/rlbench2_smoke
+  episode_length: 25
+  cameras:
+  - front
+  - wrist_left
+  - wrist_right
+  camera_resolution:
+  - 224
+  - 224
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: false
+  path: /workspace/replays/rlbench2_smoke_train
+  max_parallel_processes: 1
+framework:
+  log_freq: 1
+  save_freq: 1
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 0
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 1
+  gpu: 0
+  env_gpu: 0
+  logdir: /workspace/logs/rlbench2_smoke_train
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: false
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint
+
+[2026-03-23 01:06:27,836][root][INFO] - CWD:/workspace/logs/rlbench2_smoke_train/bimanual_lift_ball_smoke/BIMANUAL_PERACT
+[2026-03-23 01:06:27,843][root][INFO] - Starting seed 0.

artifacts/logs/rlbench2_subset/multi_3cam_subset/BIMANUAL_PERACT/.hydra/config.yaml

@@ -0,0 +1,113 @@
+method:
+  name: BIMANUAL_PERACT
+  robot_name: bimanual
+  agent_type: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 8
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+ddp:
+  master_addr: localhost
+  master_port: '0'
+  num_devices: 1
+rlbench:
+  task_name: multi_3cam_subset
+  tasks:
+  - bimanual_lift_ball
+  - bimanual_push_box
+  demos: 1
+  demo_path: /workspace/data/rlbench2
+  episode_length: 25
+  cameras:
+  - front
+  - wrist_left
+  - wrist_right
+  camera_resolution:
+  - 224
+  - 224
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /workspace/replays/rlbench2_subset
+  max_parallel_processes: 1
+framework:
+  log_freq: 1
+  save_freq: 1
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 1
+  gpu: 0
+  env_gpu: 0
+  logdir: /workspace/logs/rlbench2_subset
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: true
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint

artifacts/logs/rlbench2_subset/multi_3cam_subset/BIMANUAL_PERACT/.hydra/hydra.yaml

@@ -0,0 +1,174 @@
+hydra:
+  run:
+    dir: ${framework.logdir}/${rlbench.task_name}/${method.name}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - method=BIMANUAL_PERACT
+    - rlbench.task_name=multi_3cam_subset
+    - rlbench.tasks=[bimanual_lift_ball,bimanual_push_box]
+    - rlbench.demos=1
+    - rlbench.demo_path=/workspace/data/rlbench2
+    - replay.path=/workspace/replays/rlbench2_subset
+    - framework.logdir=/workspace/logs/rlbench2_subset
+    - framework.training_iterations=1
+    - framework.log_freq=1
+    - framework.save_freq=1
+    - framework.start_seed=0
+    - framework.num_workers=0
+    - framework.gpu=0
+    - framework.env_gpu=0
+    - replay.batch_size=1
+    - replay.max_parallel_processes=1
+    - ddp.num_devices=1
+    - rlbench.cameras=[front,wrist_left,wrist_right]
+    - rlbench.camera_resolution=[224,224]
+  job:
+    name: train
+    chdir: null
+    override_dirname: ddp.num_devices=1,framework.env_gpu=0,framework.gpu=0,framework.log_freq=1,framework.logdir=/workspace/logs/rlbench2_subset,framework.num_workers=0,framework.save_freq=1,framework.start_seed=0,framework.training_iterations=1,method=BIMANUAL_PERACT,replay.batch_size=1,replay.max_parallel_processes=1,replay.path=/workspace/replays/rlbench2_subset,rlbench.camera_resolution=[224,224],rlbench.cameras=[front,wrist_left,wrist_right],rlbench.demo_path=/workspace/data/rlbench2,rlbench.demos=1,rlbench.task_name=multi_3cam_subset,rlbench.tasks=[bimanual_lift_ball,bimanual_push_box]
+    id: ???
+    num: ???
+    config_name: config
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /workspace/third_party/peract_bimanual
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /workspace/third_party/peract_bimanual/conf
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /workspace/logs/rlbench2_subset/multi_3cam_subset/BIMANUAL_PERACT
+    choices:
+      method: BIMANUAL_PERACT
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

artifacts/logs/rlbench2_subset/multi_3cam_subset/BIMANUAL_PERACT/.hydra/overrides.yaml

@@ -0,0 +1,19 @@
+- method=BIMANUAL_PERACT
+- rlbench.task_name=multi_3cam_subset
+- rlbench.tasks=[bimanual_lift_ball,bimanual_push_box]
+- rlbench.demos=1
+- rlbench.demo_path=/workspace/data/rlbench2
+- replay.path=/workspace/replays/rlbench2_subset
+- framework.logdir=/workspace/logs/rlbench2_subset
+- framework.training_iterations=1
+- framework.log_freq=1
+- framework.save_freq=1
+- framework.start_seed=0
+- framework.num_workers=0
+- framework.gpu=0
+- framework.env_gpu=0
+- replay.batch_size=1
+- replay.max_parallel_processes=1
+- ddp.num_devices=1
+- rlbench.cameras=[front,wrist_left,wrist_right]
+- rlbench.camera_resolution=[224,224]

artifacts/logs/rlbench2_subset/multi_3cam_subset/BIMANUAL_PERACT/seed0/config.yaml

@@ -0,0 +1,113 @@
+method:
+  name: BIMANUAL_PERACT
+  robot_name: bimanual
+  agent_type: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 8
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+ddp:
+  master_addr: localhost
+  master_port: '0'
+  num_devices: 1
+rlbench:
+  task_name: multi_3cam_subset
+  tasks:
+  - bimanual_lift_ball
+  - bimanual_push_box
+  demos: 1
+  demo_path: /workspace/data/rlbench2
+  episode_length: 25
+  cameras:
+  - front
+  - wrist_left
+  - wrist_right
+  camera_resolution:
+  - 224
+  - 224
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /workspace/replays/rlbench2_subset
+  max_parallel_processes: 1
+framework:
+  log_freq: 1
+  save_freq: 1
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 1
+  gpu: 0
+  env_gpu: 0
+  logdir: /workspace/logs/rlbench2_subset
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: true
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint

artifacts/logs/rlbench2_subset/multi_3cam_subset/BIMANUAL_PERACT/seed0/training.log

@@ -0,0 +1,3 @@
+# Starting training from weights: 0 to 1# Training started on: 2026-03-23T01:32:56.919123
+# Training finished on: 2026-03-23T01:34:25.074698# Took 88.155575
+

artifacts/logs/rlbench2_subset/multi_3cam_subset/BIMANUAL_PERACT/train.log

@@ -0,0 +1,117 @@
+[2026-03-23 01:32:56,917][root][INFO] - 
+method:
+  name: BIMANUAL_PERACT
+  robot_name: bimanual
+  agent_type: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 8
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+ddp:
+  master_addr: localhost
+  master_port: '0'
+  num_devices: 1
+rlbench:
+  task_name: multi_3cam_subset
+  tasks:
+  - bimanual_lift_ball
+  - bimanual_push_box
+  demos: 1
+  demo_path: /workspace/data/rlbench2
+  episode_length: 25
+  cameras:
+  - front
+  - wrist_left
+  - wrist_right
+  camera_resolution:
+  - 224
+  - 224
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /workspace/replays/rlbench2_subset
+  max_parallel_processes: 1
+framework:
+  log_freq: 1
+  save_freq: 1
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 1
+  gpu: 0
+  env_gpu: 0
+  logdir: /workspace/logs/rlbench2_subset
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: true
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint
+
+[2026-03-23 01:32:56,918][root][INFO] - CWD:/workspace/logs/rlbench2_subset/multi_3cam_subset/BIMANUAL_PERACT
+[2026-03-23 01:32:56,926][root][INFO] - Starting seed 0.

artifacts/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/.hydra/config.yaml

@@ -0,0 +1,114 @@
+method:
+  name: BIMANUAL_PERACT
+  robot_name: bimanual
+  agent_type: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 8
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+ddp:
+  master_addr: localhost
+  master_port: '0'
+  num_devices: 1
+rlbench:
+  task_name: multi_3cam_subset3
+  tasks:
+  - bimanual_lift_ball
+  - bimanual_push_box
+  - bimanual_dual_push_buttons
+  demos: 1
+  demo_path: /workspace/data/rlbench2
+  episode_length: 25
+  cameras:
+  - front
+  - wrist_left
+  - wrist_right
+  camera_resolution:
+  - 224
+  - 224
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /workspace/replays/rlbench2_subset3
+  max_parallel_processes: 1
+framework:
+  log_freq: 1
+  save_freq: 1
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 1
+  gpu: 0
+  env_gpu: 0
+  logdir: /workspace/logs/rlbench2_subset3
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: true
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint

artifacts/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/.hydra/hydra.yaml

@@ -0,0 +1,174 @@
+hydra:
+  run:
+    dir: ${framework.logdir}/${rlbench.task_name}/${method.name}
+  sweep:
+    dir: multirun/${now:%Y-%m-%d}/${now:%H-%M-%S}
+    subdir: ${hydra.job.num}
+  launcher:
+    _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher
+  sweeper:
+    _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper
+    max_batch_size: null
+    params: null
+  help:
+    app_name: ${hydra.job.name}
+    header: '${hydra.help.app_name} is powered by Hydra.
+
+      '
+    footer: 'Powered by Hydra (https://hydra.cc)
+
+      Use --hydra-help to view Hydra specific help
+
+      '
+    template: '${hydra.help.header}
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (group=option)
+
+
+      $APP_CONFIG_GROUPS
+
+
+      == Config ==
+
+      Override anything in the config (foo.bar=value)
+
+
+      $CONFIG
+
+
+      ${hydra.help.footer}
+
+      '
+  hydra_help:
+    template: 'Hydra (${hydra.runtime.version})
+
+      See https://hydra.cc for more info.
+
+
+      == Flags ==
+
+      $FLAGS_HELP
+
+
+      == Configuration groups ==
+
+      Compose your configuration from those groups (For example, append hydra/job_logging=disabled
+      to command line)
+
+
+      $HYDRA_CONFIG_GROUPS
+
+
+      Use ''--cfg hydra'' to Show the Hydra config.
+
+      '
+    hydra_help: ???
+  hydra_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][HYDRA] %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+    root:
+      level: INFO
+      handlers:
+      - console
+    loggers:
+      logging_example:
+        level: DEBUG
+    disable_existing_loggers: false
+  job_logging:
+    version: 1
+    formatters:
+      simple:
+        format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s'
+    handlers:
+      console:
+        class: logging.StreamHandler
+        formatter: simple
+        stream: ext://sys.stdout
+      file:
+        class: logging.FileHandler
+        formatter: simple
+        filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log
+    root:
+      level: INFO
+      handlers:
+      - console
+      - file
+    disable_existing_loggers: false
+  env: {}
+  mode: RUN
+  searchpath: []
+  callbacks: {}
+  output_subdir: .hydra
+  overrides:
+    hydra:
+    - hydra.mode=RUN
+    task:
+    - method=BIMANUAL_PERACT
+    - rlbench.task_name=multi_3cam_subset3
+    - rlbench.tasks=[bimanual_lift_ball,bimanual_push_box,bimanual_dual_push_buttons]
+    - rlbench.demos=1
+    - rlbench.demo_path=/workspace/data/rlbench2
+    - replay.path=/workspace/replays/rlbench2_subset3
+    - framework.logdir=/workspace/logs/rlbench2_subset3
+    - framework.training_iterations=1
+    - framework.log_freq=1
+    - framework.save_freq=1
+    - framework.start_seed=0
+    - framework.num_workers=0
+    - framework.gpu=0
+    - framework.env_gpu=0
+    - replay.batch_size=1
+    - replay.max_parallel_processes=1
+    - ddp.num_devices=1
+    - rlbench.cameras=[front,wrist_left,wrist_right]
+    - rlbench.camera_resolution=[224,224]
+  job:
+    name: train
+    chdir: null
+    override_dirname: ddp.num_devices=1,framework.env_gpu=0,framework.gpu=0,framework.log_freq=1,framework.logdir=/workspace/logs/rlbench2_subset3,framework.num_workers=0,framework.save_freq=1,framework.start_seed=0,framework.training_iterations=1,method=BIMANUAL_PERACT,replay.batch_size=1,replay.max_parallel_processes=1,replay.path=/workspace/replays/rlbench2_subset3,rlbench.camera_resolution=[224,224],rlbench.cameras=[front,wrist_left,wrist_right],rlbench.demo_path=/workspace/data/rlbench2,rlbench.demos=1,rlbench.task_name=multi_3cam_subset3,rlbench.tasks=[bimanual_lift_ball,bimanual_push_box,bimanual_dual_push_buttons]
+    id: ???
+    num: ???
+    config_name: config
+    env_set: {}
+    env_copy: []
+    config:
+      override_dirname:
+        kv_sep: '='
+        item_sep: ','
+        exclude_keys: []
+  runtime:
+    version: 1.3.2
+    version_base: '1.1'
+    cwd: /workspace/third_party/peract_bimanual
+    config_sources:
+    - path: hydra.conf
+      schema: pkg
+      provider: hydra
+    - path: /workspace/third_party/peract_bimanual/conf
+      schema: file
+      provider: main
+    - path: ''
+      schema: structured
+      provider: schema
+    output_dir: /workspace/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT
+    choices:
+      method: BIMANUAL_PERACT
+      hydra/env: default
+      hydra/callbacks: null
+      hydra/job_logging: default
+      hydra/hydra_logging: default
+      hydra/hydra_help: default
+      hydra/help: default
+      hydra/sweeper: basic
+      hydra/launcher: basic
+      hydra/output: default
+  verbose: false

artifacts/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/.hydra/overrides.yaml

@@ -0,0 +1,19 @@
+- method=BIMANUAL_PERACT
+- rlbench.task_name=multi_3cam_subset3
+- rlbench.tasks=[bimanual_lift_ball,bimanual_push_box,bimanual_dual_push_buttons]
+- rlbench.demos=1
+- rlbench.demo_path=/workspace/data/rlbench2
+- replay.path=/workspace/replays/rlbench2_subset3
+- framework.logdir=/workspace/logs/rlbench2_subset3
+- framework.training_iterations=1
+- framework.log_freq=1
+- framework.save_freq=1
+- framework.start_seed=0
+- framework.num_workers=0
+- framework.gpu=0
+- framework.env_gpu=0
+- replay.batch_size=1
+- replay.max_parallel_processes=1
+- ddp.num_devices=1
+- rlbench.cameras=[front,wrist_left,wrist_right]
+- rlbench.camera_resolution=[224,224]

artifacts/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/seed0/config.yaml

@@ -0,0 +1,114 @@
+method:
+  name: BIMANUAL_PERACT
+  robot_name: bimanual
+  agent_type: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 8
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+ddp:
+  master_addr: localhost
+  master_port: '0'
+  num_devices: 1
+rlbench:
+  task_name: multi_3cam_subset3
+  tasks:
+  - bimanual_lift_ball
+  - bimanual_push_box
+  - bimanual_dual_push_buttons
+  demos: 1
+  demo_path: /workspace/data/rlbench2
+  episode_length: 25
+  cameras:
+  - front
+  - wrist_left
+  - wrist_right
+  camera_resolution:
+  - 224
+  - 224
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /workspace/replays/rlbench2_subset3
+  max_parallel_processes: 1
+framework:
+  log_freq: 1
+  save_freq: 1
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 1
+  gpu: 0
+  env_gpu: 0
+  logdir: /workspace/logs/rlbench2_subset3
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: true
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint

artifacts/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/seed0/eval_data.csv

@@ -0,0 +1,2 @@
+step,eval_envs/return
+0,0.0

artifacts/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/seed0/training.log

@@ -0,0 +1,3 @@
+# Starting training from weights: 0 to 1# Training started on: 2026-03-23T01:54:11.614484
+# Training finished on: 2026-03-23T01:55:53.192393# Took 101.577909
+

artifacts/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/train.log

@@ -0,0 +1,118 @@
+[2026-03-23 01:54:11,612][root][INFO] - 
+method:
+  name: BIMANUAL_PERACT
+  robot_name: bimanual
+  agent_type: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 8
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+ddp:
+  master_addr: localhost
+  master_port: '0'
+  num_devices: 1
+rlbench:
+  task_name: multi_3cam_subset3
+  tasks:
+  - bimanual_lift_ball
+  - bimanual_push_box
+  - bimanual_dual_push_buttons
+  demos: 1
+  demo_path: /workspace/data/rlbench2
+  episode_length: 25
+  cameras:
+  - front
+  - wrist_left
+  - wrist_right
+  camera_resolution:
+  - 224
+  - 224
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+replay:
+  batch_size: 1
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /workspace/replays/rlbench2_subset3
+  max_parallel_processes: 1
+framework:
+  log_freq: 1
+  save_freq: 1
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 1
+  gpu: 0
+  env_gpu: 0
+  logdir: /workspace/logs/rlbench2_subset3
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: true
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint
+
+[2026-03-23 01:54:11,613][root][INFO] - CWD:/workspace/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT
+[2026-03-23 01:54:11,620][root][INFO] - Starting seed 0.

artifacts/logs/x99-custom.log

@@ -0,0 +1,16 @@
+
+X.Org X Server 1.21.1.4
+X Protocol Version 11, Revision 0
+Current Operating System: Linux d5712036fdf1 6.8.0-62-generic #65-Ubuntu SMP PREEMPT_DYNAMIC Mon May 19 17:15:03 UTC 2025 x86_64
+Kernel command line: BOOT_IMAGE=/boot/vmlinuz-6.8.0-62-generic root=UUID=f310f320-81c7-4f48-90eb-e4fdc1f56f25 ro systemd.unified_cgroup_hierarchy=false
+xorg-server 2:21.1.4-2ubuntu1.7~22.04.16 (For technical support please see http://www.ubuntu.com/support) 
+Current version of pixman: 0.40.0
+	Before reporting problems, check http://wiki.x.org
+	to make sure that you have the latest version.
+Markers: (--) probed, (**) from config file, (==) default setting,
+	(++) from command line, (!!) notice, (II) informational,
+	(WW) warning, (EE) error, (NI) not implemented, (??) unknown.
+(==) Log file: "/var/log/Xorg.99.log", Time: Sun Mar 22 23:51:58 2026
+(++) Using config file: "/workspace/reveal_vla_bimanual/docs/xorg.rtx6000.conf"
+(==) Using config directory: "/etc/X11/xorg.conf.d"
+(==) Using system config directory "/usr/share/X11/xorg.conf.d"

artifacts/logs/x99.log

@@ -0,0 +1,15 @@
+
+X.Org X Server 1.21.1.4
+X Protocol Version 11, Revision 0
+Current Operating System: Linux e52be9725b2e 6.8.0-62-generic #65-Ubuntu SMP PREEMPT_DYNAMIC Mon May 19 17:15:03 UTC 2025 x86_64
+Kernel command line: BOOT_IMAGE=/boot/vmlinuz-6.8.0-62-generic root=UUID=f310f320-81c7-4f48-90eb-e4fdc1f56f25 ro systemd.unified_cgroup_hierarchy=false
+xorg-server 2:21.1.4-2ubuntu1.7~22.04.16 (For technical support please see http://www.ubuntu.com/support) 
+Current version of pixman: 0.40.0
+	Before reporting problems, check http://wiki.x.org
+	to make sure that you have the latest version.
+Markers: (--) probed, (**) from config file, (==) default setting,
+	(++) from command line, (!!) notice, (II) informational,
+	(WW) warning, (EE) error, (NI) not implemented, (??) unknown.
+(==) Log file: "/var/log/Xorg.99.log", Time: Mon Mar 23 01:35:37 2026
+(++) Using config file: "/workspace/reveal_vla_bimanual/docs/xorg.rtx6000.conf"
+(==) Using system config directory "/usr/share/X11/xorg.conf.d"

artifacts/logs/x99.pid

@@ -0,0 +1 @@
+3371

artifacts/reports/reveal_ablation/ablations.json

@@ -0,0 +1,93 @@
+{
+  "full_model": {
+    "per_task_success": {
+      "foliage_proxy": 0.5,
+      "bag_proxy": 0.5,
+      "cloth_proxy": 1.0
+    },
+    "mean_success": 0.6666666666666666,
+    "visibility_integral": 24.36975688404507,
+    "corridor_availability": 0.8875169853369395,
+    "reocclusion_rate": 0.014583333333333334,
+    "persistence_horizon_mae": 1.4142769027835291,
+    "disturbance_cost": 0.42979968297812676
+  },
+  "no_reveal_state_head": {
+    "per_task_success": {
+      "foliage_proxy": 0.5,
+      "bag_proxy": 0.6666666666666666,
+      "cloth_proxy": 0.6666666666666666
+    },
+    "mean_success": 0.611111111111111,
+    "visibility_integral": 25.961688462230896,
+    "corridor_availability": 0.8389290322860082,
+    "reocclusion_rate": 0.0,
+    "persistence_horizon_mae": null,
+    "disturbance_cost": 0.4373710020962689
+  },
+  "no_world_model": {
+    "per_task_success": {
+      "foliage_proxy": 0.5,
+      "bag_proxy": 0.6666666666666666,
+      "cloth_proxy": 0.6666666666666666
+    },
+    "mean_success": 0.611111111111111,
+    "visibility_integral": 25.961688462230896,
+    "corridor_availability": 0.8389290322860082,
+    "reocclusion_rate": 0.0,
+    "persistence_horizon_mae": 1.2728600796398442,
+    "disturbance_cost": 0.4373710020962689
+  },
+  "no_planner_reranking": {
+    "per_task_success": {
+      "foliage_proxy": 0.5,
+      "bag_proxy": 0.6666666666666666,
+      "cloth_proxy": 0.6666666666666666
+    },
+    "mean_success": 0.611111111111111,
+    "visibility_integral": 25.961688462230896,
+    "corridor_availability": 0.8389290322860082,
+    "reocclusion_rate": 0.0,
+    "persistence_horizon_mae": 1.2728600796398442,
+    "disturbance_cost": 0.4373710020962689
+  },
+  "no_support_mode_conditioning": {
+    "per_task_success": {
+      "foliage_proxy": 0.4166666666666667,
+      "bag_proxy": 0.9166666666666666,
+      "cloth_proxy": 0.8333333333333334
+    },
+    "mean_success": 0.7222222222222222,
+    "visibility_integral": 23.05404196182887,
+    "corridor_availability": 0.8699083113008075,
+    "reocclusion_rate": 0.005555555555555556,
+    "persistence_horizon_mae": 1.3802068092328472,
+    "disturbance_cost": 0.42474424963196117
+  },
+  "no_wrist_cameras": {
+    "per_task_success": {
+      "foliage_proxy": 0.5,
+      "bag_proxy": 0.8333333333333334,
+      "cloth_proxy": 0.9166666666666666
+    },
+    "mean_success": 0.75,
+    "visibility_integral": 20.127365860674118,
+    "corridor_availability": 0.8554659518930647,
+    "reocclusion_rate": 0.010912698412698412,
+    "persistence_horizon_mae": 3.7925679992971033,
+    "disturbance_cost": 0.3890175982895825
+  },
+  "no_global_camera": {
+    "per_task_success": {
+      "foliage_proxy": 0.5833333333333334,
+      "bag_proxy": 0.3333333333333333,
+      "cloth_proxy": 0.75
+    },
+    "mean_success": 0.5555555555555556,
+    "visibility_integral": 30.977441320816677,
+    "corridor_availability": 0.9048774888118108,
+    "reocclusion_rate": 0.005555555555555556,
+    "persistence_horizon_mae": 1.2688850791612154,
+    "disturbance_cost": 0.5012649139389396
+  }
+}

artifacts/reports/reveal_ablation/ablations.md

@@ -0,0 +1,57 @@
+# Reveal Ablations
+
+## full_model
+- mean_success: 0.667
+- visibility_integral: 24.370
+- corridor_availability: 0.888
+- reocclusion_rate: 0.015
+- persistence_horizon_mae: 1.414
+- disturbance_cost: 0.430
+
+## no_reveal_state_head
+- mean_success: 0.611
+- visibility_integral: 25.962
+- corridor_availability: 0.839
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 0.000
+- disturbance_cost: 0.437
+
+## no_world_model
+- mean_success: 0.611
+- visibility_integral: 25.962
+- corridor_availability: 0.839
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 1.273
+- disturbance_cost: 0.437
+
+## no_planner_reranking
+- mean_success: 0.611
+- visibility_integral: 25.962
+- corridor_availability: 0.839
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 1.273
+- disturbance_cost: 0.437
+
+## no_support_mode_conditioning
+- mean_success: 0.722
+- visibility_integral: 23.054
+- corridor_availability: 0.870
+- reocclusion_rate: 0.006
+- persistence_horizon_mae: 1.380
+- disturbance_cost: 0.425
+
+## no_wrist_cameras
+- mean_success: 0.750
+- visibility_integral: 20.127
+- corridor_availability: 0.855
+- reocclusion_rate: 0.011
+- persistence_horizon_mae: 3.793
+- disturbance_cost: 0.389
+
+## no_global_camera
+- mean_success: 0.556
+- visibility_integral: 30.977
+- corridor_availability: 0.905
+- reocclusion_rate: 0.006
+- persistence_horizon_mae: 1.269
+- disturbance_cost: 0.501

artifacts/reports/reveal_eval_noplan/reveal_benchmark.json

@@ -0,0 +1,15 @@
+{
+  "reveal_noplan": {
+    "per_task_success": {
+      "foliage_proxy": 0.5,
+      "bag_proxy": 0.6666666666666666,
+      "cloth_proxy": 0.625
+    },
+    "mean_success": 0.5972222222222222,
+    "visibility_integral": 27.178140739599865,
+    "corridor_availability": 0.849177656074365,
+    "reocclusion_rate": 0.0,
+    "persistence_horizon_mae": 1.2565823680940706,
+    "disturbance_cost": 0.45864952883372706
+  }
+}

artifacts/reports/reveal_eval_noplan/reveal_benchmark.md

@@ -0,0 +1,13 @@
+# Reveal Proxy Benchmark
+
+## reveal_noplan
+- checkpoint: /workspace/outputs/reveal_runs/proxy_reveal_state/checkpoint_best.pt
+- mean_success: 0.597
+- visibility_integral: 27.178
+- corridor_availability: 0.849
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 1.257
+- disturbance_cost: 0.459
+- foliage_proxy_success: 0.500
+- bag_proxy_success: 0.667
+- cloth_proxy_success: 0.625

artifacts/reports/reveal_eval_progress/reveal_benchmark.json

@@ -0,0 +1,28 @@
+{
+  "backbone": {
+    "per_task_success": {
+      "foliage_proxy": 1.0,
+      "bag_proxy": 1.0,
+      "cloth_proxy": 1.0
+    },
+    "mean_success": 1.0,
+    "visibility_integral": 1.7894555413060718,
+    "corridor_availability": 0.7018518588609166,
+    "reocclusion_rate": 0.0,
+    "persistence_horizon_mae": 0.0,
+    "disturbance_cost": 0.1193024102701909
+  },
+  "reveal": {
+    "per_task_success": {
+      "foliage_proxy": 1.0,
+      "bag_proxy": 0.9166666666666666,
+      "cloth_proxy": 1.0
+    },
+    "mean_success": 0.9722222222222222,
+    "visibility_integral": 7.454103883769777,
+    "corridor_availability": 0.7923081003957324,
+    "reocclusion_rate": 0.006412588183421516,
+    "persistence_horizon_mae": 1.121051647659432,
+    "disturbance_cost": 0.21477815829631355
+  }
+}

artifacts/reports/reveal_eval_progress/reveal_benchmark.md

@@ -0,0 +1,25 @@
+# Reveal Proxy Benchmark
+
+## backbone
+- checkpoint: /workspace/outputs/reveal_runs/proxy_backbone_only/checkpoint_best.pt
+- mean_success: 1.000
+- visibility_integral: 1.789
+- corridor_availability: 0.702
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 0.000
+- disturbance_cost: 0.119
+- foliage_proxy_success: 1.000
+- bag_proxy_success: 1.000
+- cloth_proxy_success: 1.000
+
+## reveal
+- checkpoint: /workspace/outputs/reveal_runs/proxy_reveal_state/checkpoint_best.pt
+- mean_success: 0.972
+- visibility_integral: 7.454
+- corridor_availability: 0.792
+- reocclusion_rate: 0.006
+- persistence_horizon_mae: 1.121
+- disturbance_cost: 0.215
+- foliage_proxy_success: 1.000
+- bag_proxy_success: 0.917
+- cloth_proxy_success: 1.000

artifacts/reports/reveal_eval_v2/reveal_benchmark.json

@@ -0,0 +1,28 @@
+{
+  "backbone": {
+    "per_task_success": {
+      "foliage_proxy": 0.9583333333333334,
+      "bag_proxy": 1.0,
+      "cloth_proxy": 0.9166666666666666
+    },
+    "mean_success": 0.9583333333333334,
+    "visibility_integral": 5.28285722186168,
+    "corridor_availability": 0.7595054432749748,
+    "reocclusion_rate": 0.0,
+    "persistence_horizon_mae": 0.0,
+    "disturbance_cost": 0.1763312140893605
+  },
+  "reveal": {
+    "per_task_success": {
+      "foliage_proxy": 0.75,
+      "bag_proxy": 0.625,
+      "cloth_proxy": 0.7083333333333334
+    },
+    "mean_success": 0.6944444444444445,
+    "visibility_integral": 24.614064537816578,
+    "corridor_availability": 0.8740722197625372,
+    "reocclusion_rate": 0.006712962962962964,
+    "persistence_horizon_mae": 1.284850824998643,
+    "disturbance_cost": 0.44315123330387807
+  }
+}

artifacts/reports/reveal_eval_v2/reveal_benchmark.md

@@ -0,0 +1,25 @@
+# Reveal Proxy Benchmark
+
+## backbone
+- checkpoint: /workspace/outputs/reveal_runs/proxy_backbone_only/checkpoint_best.pt
+- mean_success: 0.958
+- visibility_integral: 5.283
+- corridor_availability: 0.760
+- reocclusion_rate: 0.000
+- persistence_horizon_mae: 0.000
+- disturbance_cost: 0.176
+- foliage_proxy_success: 0.958
+- bag_proxy_success: 1.000
+- cloth_proxy_success: 0.917
+
+## reveal
+- checkpoint: /workspace/outputs/reveal_runs/proxy_reveal_state/checkpoint_best.pt
+- mean_success: 0.694
+- visibility_integral: 24.614
+- corridor_availability: 0.874
+- reocclusion_rate: 0.007
+- persistence_horizon_mae: 1.285
+- disturbance_cost: 0.443
+- foliage_proxy_success: 0.750
+- bag_proxy_success: 0.625
+- cloth_proxy_success: 0.708

artifacts/reports/rlbench_custom/backbone_only_rollout/rollout_eval.json

@@ -0,0 +1,41 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_custom/rlbench_subset3_backbone_only_dummy/checkpoint_best.pt",
+  "plan": false,
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 5,
+  "resolution": 224,
+  "tasks": {
+    "bimanual_lift_ball": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_push_box": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_dual_push_buttons": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/reports/rlbench_custom/backbone_only_rollout/rollout_eval.md

@@ -0,0 +1,12 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/outputs/rlbench_custom/rlbench_subset3_backbone_only_dummy/checkpoint_best.pt`
+- Plan enabled: `False`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0]
+- `bimanual_push_box`: mean_success=0.000, returns=[0.0]
+- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0]

artifacts/reports/rlbench_custom/reveal_state_rollout_noplan/rollout_eval.json

@@ -0,0 +1,41 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_custom/rlbench_subset3_reveal_state_dummy/checkpoint_best.pt",
+  "plan": false,
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 5,
+  "resolution": 224,
+  "tasks": {
+    "bimanual_lift_ball": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_push_box": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_dual_push_buttons": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/reports/rlbench_custom/reveal_state_rollout_noplan/rollout_eval.md

@@ -0,0 +1,12 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/outputs/rlbench_custom/rlbench_subset3_reveal_state_dummy/checkpoint_best.pt`
+- Plan enabled: `False`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0]
+- `bimanual_push_box`: mean_success=0.000, returns=[0.0]
+- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0]

artifacts/reports/rlbench_custom/reveal_state_rollout_plan/rollout_eval.json

@@ -0,0 +1,41 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_custom/rlbench_subset3_reveal_state_dummy/checkpoint_best.pt",
+  "plan": true,
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 5,
+  "resolution": 224,
+  "tasks": {
+    "bimanual_lift_ball": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_push_box": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_dual_push_buttons": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/reports/rlbench_custom/reveal_state_rollout_plan/rollout_eval.md

@@ -0,0 +1,12 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/outputs/rlbench_custom/rlbench_subset3_reveal_state_dummy/checkpoint_best.pt`
+- Plan enabled: `True`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0]
+- `bimanual_push_box`: mean_success=0.000, returns=[0.0]
+- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0]

artifacts/reports/rlbench_custom/rlbench_subset3_custom_eval.md

@@ -0,0 +1,38 @@
+# RLBench Custom Subset Eval
+
+Date: 2026-03-23 UTC
+
+Scope:
+- Local 3-task RLBench subset: `bimanual_lift_ball`, `bimanual_push_box`, `bimanual_dual_push_buttons`
+- Train episodes: `episode0`
+- Validation episodes: `episode1`
+- Observation interface: `front`, `wrist_left`, `wrist_right` at `224x224`
+- Policy action format: 14-D bimanual delta pose + gripper commands, executed through RLBench bimanual end-effector planning
+- Backbone used in these custom runs: the existing 128-d dummy frozen backbone, initialized from the previously trained reveal-proxy checkpoints
+
+Offline training results:
+- Backbone-only: train total `0.0079247`, val total `0.0056060`
+- Reveal-state: train total `0.0078287`, val total `0.0091639`
+
+Live bounded rollout results:
+- Backbone-only, `plan=false`: mean success `0.000`
+- Reveal-state, `plan=false`: mean success `0.000`
+- Reveal-state, `plan=true`: mean success `0.000`
+
+Per-task live rollout success:
+- `bimanual_lift_ball`: `0.0` for all three runs
+- `bimanual_push_box`: `0.0` for all three runs
+- `bimanual_dual_push_buttons`: `0.0` for all three runs
+
+Interpretation:
+- The missing RLBench-side custom trainer/eval path is now implemented and tested.
+- The bounded custom subset runs do not support a go decision. They fit the tiny offline slice but do not produce any short-horizon task success in live RLBench rollouts.
+- On this subset, the reveal-state model is not better than the backbone-only model, and enabling planning does not recover success.
+- These are not paper-scale results. They are bounded diagnostic runs on a repaired local subset, not a credible full PerAct2 reproduction or a full custom-model benchmark.
+
+Key artifacts:
+- Backbone-only summary: `/workspace/outputs/rlbench_custom/rlbench_subset3_backbone_only_dummy/summary.json`
+- Reveal-state summary: `/workspace/outputs/rlbench_custom/rlbench_subset3_reveal_state_dummy/summary.json`
+- Backbone-only rollout: `/workspace/reports/rlbench_custom/backbone_only_rollout/rollout_eval.json`
+- Reveal-state rollout, no plan: `/workspace/reports/rlbench_custom/reveal_state_rollout_noplan/rollout_eval.json`
+- Reveal-state rollout, plan enabled: `/workspace/reports/rlbench_custom/reveal_state_rollout_plan/rollout_eval.json`

artifacts/reports/rlbench_custom_clip/reveal_state_rollout_noplan/rollout_eval.md

@@ -0,0 +1,12 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt`
+- Plan enabled: `False`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0]
+- `bimanual_push_box`: mean_success=0.000, returns=[0.0]
+- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0]

artifacts/reports/rlbench_custom_clip/reveal_state_rollout_plan/rollout_eval.json

@@ -0,0 +1,41 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt",
+  "plan": true,
+  "support_mode_conditioning": true,
+  "episodes_per_task": 1,
+  "episode_length": 5,
+  "resolution": 224,
+  "tasks": {
+    "bimanual_lift_ball": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_push_box": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    },
+    "bimanual_dual_push_buttons": {
+      "successes": [
+        0.0
+      ],
+      "returns": [
+        0.0
+      ],
+      "mean_success": 0.0,
+      "mean_return": 0.0
+    }
+  },
+  "mean_success": 0.0
+}

artifacts/reports/rlbench_custom_clip/reveal_state_rollout_plan/rollout_eval.md

@@ -0,0 +1,12 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt`
+- Plan enabled: `True`
+- Support-mode conditioning: `True`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0]
+- `bimanual_push_box`: mean_success=0.000, returns=[0.0]
+- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0]

artifacts/reports/rlbench_custom_clip/rlbench_subset3_clip_eval.md

@@ -0,0 +1,52 @@
+# RLBench Custom Subset Eval With Frozen CLIP Backbone
+
+Date: 2026-03-23 UTC
+
+Scope:
+- Frozen real backbone: `openai/clip-vit-base-patch32`
+- Proxy pretraining performed first with the same frozen CLIP backbone
+- RLBench local 3-task subset: `bimanual_lift_ball`, `bimanual_push_box`, `bimanual_dual_push_buttons`
+- Train episodes: `episode0`
+- Validation episodes: `episode1`
+- Observation interface: `front`, `wrist_left`, `wrist_right` at `224x224`
+- Live rollout cap: `1` episode per task, `5` control steps per episode
+
+Proxy pretraining:
+- Backbone-only proxy pretrain:
+  - final train total `0.0077748`
+  - final val total `0.0051880`
+  - checkpoint: `/workspace/outputs/reveal_runs/proxy_backbone_only_clip/checkpoint_best.pt`
+- Reveal-state proxy pretrain:
+  - final train total `0.3623058`
+  - final val total `0.3356363`
+  - checkpoint: `/workspace/outputs/reveal_runs/proxy_reveal_state_clip/checkpoint_best.pt`
+
+RLBench offline training:
+- Backbone-only CLIP:
+  - final train total `0.0072433`
+  - final val total `0.0046696`
+  - checkpoint: `/workspace/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt`
+- Reveal-state CLIP:
+  - final train total `0.0070936`
+  - final val total `0.0042334`
+  - checkpoint: `/workspace/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt`
+
+Live RLBench rollout:
+- Backbone-only CLIP, `plan=false`: mean success `0.000`
+- Reveal-state CLIP, `plan=false`: mean success `0.000`
+- Reveal-state CLIP, `plan=true`: mean success `0.000`
+
+Per-task live success:
+- `bimanual_lift_ball`: `0.0` in all three runs
+- `bimanual_push_box`: `0.0` in all three runs
+- `bimanual_dual_push_buttons`: `0.0` in all three runs
+
+Interpretation:
+- Swapping the dummy backbone for the intended frozen CLIP backbone does not change the bounded RLBench outcome on the current local subset.
+- The real-backbone custom models fit the tiny offline subset, but that does not translate into short-horizon live task success.
+- On the current evidence, the go/no-go recommendation remains `no-go`.
+
+Artifacts:
+- Backbone-only rollout: `/workspace/reports/rlbench_custom_clip/backbone_only_rollout/rollout_eval.json`
+- Reveal-state rollout, no plan: `/workspace/reports/rlbench_custom_clip/reveal_state_rollout_noplan/rollout_eval.json`
+- Reveal-state rollout, plan enabled: `/workspace/reports/rlbench_custom_clip/reveal_state_rollout_plan/rollout_eval.json`

artifacts/reports/rlbench_subset3_baseline_sanity.md

@@ -0,0 +1,83 @@
+# RLBench Subset3 Baseline Sanity
+
+Date: 2026-03-23 UTC
+
+## Scope
+
+These are bounded sanity tests on the upstream `BIMANUAL_PERACT` baseline, not a published-number reproduction:
+
+- Observation interface: `front`, `wrist_left`, `wrist_right`
+- Resolution: `224x224`
+- Hardware target: single RTX 6000 Ada
+- Dataset slice: `episode0` and `episode1` for:
+  - `bimanual_lift_ball`
+  - `bimanual_push_box`
+  - `bimanual_dual_push_buttons`
+
+## Training sanity
+
+Checkpoint root:
+
+- `/workspace/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/seed0`
+
+Command shape:
+
+- `BIMANUAL_PERACT`
+- `3` tasks
+- `1` demo per task
+- `1` training iteration
+- `batch_size=1`
+
+Observed replay fill:
+
+- `bimanual_lift_ball`: found `4` keypoints
+- `bimanual_push_box`: found `2` keypoints
+- `bimanual_dual_push_buttons`: found `4` keypoints
+
+Training artifact:
+
+- `/workspace/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/seed0/weights/0/QAttentionAgent_layer0.pt`
+
+Training duration:
+
+- about `101.6s`
+
+## Short evals
+
+All evals used:
+
+- `eval_episodes=1`
+- `episode_length=5`
+- bimanual action-mode overrides:
+  - `BimanualDiscrete`
+  - `BimanualEndEffectorPoseViaPlanning`
+  - `BimanualMoveArmThenGripper`
+
+Observed episode scores:
+
+- `bimanual_lift_ball`: `0.0`
+- `bimanual_push_box`: `0.0`
+- `bimanual_dual_push_buttons`: `0.0`
+
+Persisted eval CSV:
+
+- `/workspace/logs/rlbench2_subset3/multi_3cam_subset3/BIMANUAL_PERACT/seed0/eval_data.csv`
+
+Contents:
+
+```csv
+step,eval_envs/return
+0,0.0
+```
+
+## Notes
+
+- The repaired `bimanual_dual_push_buttons.train.squashfs` now extracts correctly.
+- Eval required two local runtime fixes to complete:
+  - skip `act_summaries()` voxel rendering if `pyrender/pyglet` fails on this X stack
+  - write fallback eval return summaries when YARR does not emit them
+
+## Still blocked
+
+- No full PerAct2 reproduction on the official full task split has been run.
+- No RLBench-side trainer/eval path exists yet in the monorepo for the custom backbone-only policy or the reveal-state model.

export_manifest_data.json

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