diff --git a/artifacts/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/config_resolved.yaml b/artifacts/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4559dabfd1229bab55ab1596124d8bbe6aea7ec3 --- /dev/null +++ b/artifacts/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/config_resolved.yaml @@ -0,0 +1,92 @@ +experiment_name: rlbench_lift_ball_backbone_only_clip_current_3train +output_dir: /workspace/outputs/rlbench_current +device: cuda +seed: 17 +init_checkpoint: null +init_strict: false +data: + dataset_root: /workspace/data/rlbench2 + tasks: + - bimanual_lift_ball + train_episodes: + - 0 + - 1 + - 2 + val_episodes: + - 3 + resolution: 224 + chunk_horizon: 8 + proprio_dim: 32 + history_steps: 2 +optim: + epochs: 12 + batch_size: 8 + num_workers: 2 + lr: 0.0002 + weight_decay: 0.0001 +trainer: + policy_type: backbone_only + use_bf16: true + grad_clip_norm: 1.0 + freeze_backbone: true + gradient_checkpointing: false + plan_during_train: false + plan_during_eval: false + support_mode_conditioning: true +policy: + backbone: + model_name: openai/clip-vit-base-patch32 + hidden_dim: 512 + max_text_tokens: 32 + freeze_backbone: true + gradient_checkpointing: false + use_dummy_backbone: false + fusion: + hidden_dim: 512 + num_cameras: 3 + num_layers: 4 + num_heads: 8 + ff_dim: 2048 + dropout: 0.1 + proprio_dim: 32 + proprio_tokens: 1 + memory: + hidden_dim: 512 + history_steps: 2 + num_layers: 1 + dropout: 0.1 + decoder: + hidden_dim: 512 + num_heads: 8 + num_layers: 4 + ff_dim: 2048 + dropout: 0.1 + chunk_size: 8 + action_dim: 14 + num_candidates: 8 + reveal_head: + hidden_dim: 512 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + belief_map_size: 32 + predict_belief_map: true + world_model: + hidden_dim: 512 + action_dim: 14 + num_support_modes: 3 + 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} + } +] \ No newline at end of file diff --git a/artifacts/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/summary.json b/artifacts/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..36dd7a213669710d83b5291e0434f5d7c795eaa9 --- /dev/null +++ b/artifacts/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/summary.json @@ -0,0 +1,44 @@ +{ + "experiment_name": "rlbench_lift_ball_backbone_only_clip_current_3train", + "device": "cuda", + "best_checkpoint": "/workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/checkpoint_best.pt", + "final_train_total": 0.0012609842183821378, + "final_val_total": 0.0005350256532741089, + "train_dataset": { + "dataset_root": "/workspace/data/rlbench2", + "tasks": [ + "bimanual_lift_ball" + ], + "episode_indices": [ + 0, + 1, + 2 + ], + "num_episodes": 3, + 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b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb3ad9060f80a4e61bcea83e0e254dce66f0e2c --- /dev/null +++ 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"timestep": 19, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.03925895690918, + 11.076944351196289, + 11.073898315429688, + 11.043900489807129 + ], + "predicted_reocclusion": 0.5312473773956299, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..703834592e4da4c0e6683b6373959e27e1a91669 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e336af84c9ae546f43237f7f4c590b0fbf860972 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.197153091430664, + 11.241825103759766, + 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11.076944351196289, + 11.073898315429688, + 11.043900489807129 + ], + "predicted_reocclusion": 0.5312473773956299, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..75bda7753eebdfcfe8a68703494f2e587c16842b --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item --tasks bimanual_handover_item --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..ee0441848f09ef8c75e804a8ff1b362714a50577 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": 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"predicted_reocclusion": 0.45683759450912476, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..c4e1f4a62421521869e1204c3f7ac1ea9c777e47 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_handover_item`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..b061dfe3149998e3342f377842367d84b23b17e6 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, 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"mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..f5095601bd22aa6764b65ab80072229c072aaf2e --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy --tasks bimanual_handover_item_easy --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..9ca2fd676764db183c1fc3bfd57a534a34d84152 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + 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18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.425673484802246, + 11.400392532348633, + 11.409513473510742, + 11.419081687927246 + ], + "predicted_reocclusion": 0.5022225975990295, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.425673484802246, + 11.400392532348633, + 11.409513473510742, + 11.419081687927246 + ], + "predicted_reocclusion": 0.5022225975990295, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..4d77dd4eae1116b6eb1f774c8b9e12c1ed583438 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_handover_item_easy`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..555b9e38ba8a9c78d8cd1d85b757570c53cf82ec --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_handover_item_easy/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + 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b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..473d37bcae434bf8911feb8c7aa9d6d9dddf4c3e --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..5954f04721579f89f09e6e4b9c189427011ff43f --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + 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+ 10.632391929626465, + 10.669404983520508 + ], + "predicted_reocclusion": 0.4886311888694763, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + 10.65845775604248, + 10.64293384552002, + 10.632391929626465, + 10.669404983520508 + ], + "predicted_reocclusion": 0.4886311888694763, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..07dbb85d6222a8baf0378a4e2c4dd2c3521443f1 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e5921c6f61d52838ff5b4c29fd4bfc6aabb26e66 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "maintain_opening", + 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"planner_scores": [ + 10.65845775604248, + 10.64293384552002, + 10.632391929626465, + 10.669404983520508 + ], + "predicted_reocclusion": 0.4886311888694763, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..6668cf74283a498d74647dcb7472325d3eeea884 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray --tasks bimanual_lift_tray --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..a85849ec588d6fd6998e8cc77fa1a3c9e4aff01e --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": 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"noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..5496516af65d68f8eec02f701f1fbb37d7951023 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_tray`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..5f54ecf8a850a6cfd6898653290bd8197ac06ed3 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_lift_tray/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_tray": { + "task_class": "BimanualLiftTray", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the tray", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.135418891906738, + 11.09164047241211, + 11.122170448303223, + 11.109566688537598 + ], + "predicted_reocclusion": 0.574530839920044, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.135418891906738, + 11.09164047241211, + 11.122170448303223, + 11.109566688537598 + ], + "predicted_reocclusion": 0.574530839920044, + "support_mode_conditioning": true, + 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+ "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 10.923962593078613, + 10.88067626953125, + 10.911008834838867, + 10.898168563842773 + ], + "predicted_reocclusion": 0.5757627487182617, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 10.910428047180176, + 10.86708927154541, + 10.897433280944824, + 10.88456916809082 + ], + "predicted_reocclusion": 0.5759365558624268, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 10.910428047180176, + 10.86708927154541, + 10.897433280944824, + 10.88456916809082 + ], + "predicted_reocclusion": 0.5759365558624268, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 10.910428047180176, + 10.86708927154541, + 10.897433280944824, + 10.88456916809082 + ], + "predicted_reocclusion": 0.5759365558624268, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 10.910428047180176, + 10.86708927154541, + 10.897433280944824, + 10.88456916809082 + ], + "predicted_reocclusion": 0.5759365558624268, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..40a4e1f9da129f78f6d05a904f85bea3a8d06dc4 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop --tasks bimanual_pick_laptop --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..799569e767ed62eeb4ea5d33b96c4c29284c30c1 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_laptop": { + "task_class": "BimanualPickLaptop", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the laptop", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.561836242675781, + 11.543346405029297, + 11.573431015014648, + 11.548807144165039 + ], + "predicted_reocclusion": 0.524105429649353, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.561836242675781, + 11.543346405029297, + 11.573431015014648, + 11.548807144165039 + ], + "predicted_reocclusion": 0.524105429649353, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.561836242675781, + 11.543346405029297, + 11.573431015014648, + 11.548807144165039 + ], + 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11.40832233428955 + ], + "predicted_reocclusion": 0.5259734392166138, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.418904304504395, + 11.405465126037598, + 11.431793212890625, + 11.40832233428955 + ], + "predicted_reocclusion": 0.5259734392166138, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..39fbc5b2b448763634bd48b9ce34efcf14330a35 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_pick_laptop`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..3eaec5efa9c5be6e7b3dbec2dddfa36b08d2e2e7 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/stderr.txt @@ -0,0 +1,8 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(False, 'waypoint5 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint5 - DualPanda'), (True, '')). +WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')). diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..bcc9507cf8b8910908b45cef835be28fe09f891f --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_laptop/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_laptop": { + "task_class": "BimanualPickLaptop", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the laptop", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.561836242675781, + 11.543346405029297, + 11.573431015014648, + 11.548807144165039 + ], + "predicted_reocclusion": 0.524105429649353, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.561836242675781, + 11.543346405029297, + 11.573431015014648, + 11.548807144165039 + ], + "predicted_reocclusion": 0.524105429649353, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + 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18, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.418904304504395, + 11.405465126037598, + 11.431793212890625, + 11.40832233428955 + ], + "predicted_reocclusion": 0.5259734392166138, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.418904304504395, + 11.405465126037598, + 11.431793212890625, + 11.40832233428955 + ], + "predicted_reocclusion": 0.5259734392166138, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..38357923fb5505de01c69b53fe2ba03d84e68c7b --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate --tasks bimanual_pick_plate --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..1dc49e06b7c212e1ef2f79774cb702d680b06c60 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_plate": { + "task_class": "BimanualPickPlate", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the plate", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + 11.643865585327148, + 11.657587051391602, + 11.617194175720215, + 11.66508674621582 + ], + "predicted_reocclusion": 0.49792808294296265, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + 11.643865585327148, + 11.657587051391602, + 11.617194175720215, + 11.66508674621582 + ], + "predicted_reocclusion": 0.49792808294296265, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + 11.643865585327148, + 11.657587051391602, + 11.617194175720215, + 11.66508674621582 + ], + 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+ 11.5001802444458 + ], + "predicted_reocclusion": 0.5007752180099487, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + 11.481613159179688, + 11.493622779846191, + 11.454720497131348, + 11.5001802444458 + ], + "predicted_reocclusion": 0.5007752180099487, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..8d28de6582f6ba14fd7ac69733488402dbd87696 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_pick_plate`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e6c13a09bc0ffa97744eece542047238fbc91f3e --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/stderr.txt @@ -0,0 +1,10 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_plate. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')). +WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_plate. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')). +WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_plate. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')). diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..3d40c4ad68162dd724091ed06e20d8e8a1924b98 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_pick_plate/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_plate": { + "task_class": "BimanualPickPlate", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the plate", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + 11.643865585327148, + 11.657587051391602, + 11.617194175720215, + 11.66508674621582 + ], + "predicted_reocclusion": 0.49792808294296265, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + 11.643865585327148, + 11.657587051391602, + 11.617194175720215, + 11.66508674621582 + ], + "predicted_reocclusion": 0.49792808294296265, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + 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"noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + 11.481613159179688, + 11.493622779846191, + 11.454720497131348, + 11.5001802444458 + ], + "predicted_reocclusion": 0.5007752180099487, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + 11.481613159179688, + 11.493622779846191, + 11.454720497131348, + 11.5001802444458 + ], + "predicted_reocclusion": 0.5007752180099487, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..1c280945a46f5746e4a2468d4896263de34c081e --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..5e7f3684946e769b54cfdeab622e2696d6d710be --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], 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11.561141014099121 + ], + "predicted_reocclusion": 0.5352468490600586, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.579277992248535, + 11.558948516845703, + 11.574824333190918, + 11.561141014099121 + ], + "predicted_reocclusion": 0.5352468490600586, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..b482aae4e0ea29ef31204488e1d3c34da5d00688 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..650e0f6d2e6c5b5386576c1897d8b23f411958d1 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", 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11.714740753173828, + 11.69885540008545 + ], + "predicted_reocclusion": 0.5334509611129761, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.642910957336426, + 11.622575759887695, + 11.638394355773926, + 11.624726295471191 + ], + "predicted_reocclusion": 0.5352821350097656, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.642910957336426, + 11.622575759887695, + 11.638394355773926, + 11.624726295471191 + ], + "predicted_reocclusion": 0.5352821350097656, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.642910957336426, + 11.622575759887695, + 11.638394355773926, + 11.624726295471191 + ], + 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.608431816101074, + 11.588105201721191, + 11.603989601135254, + 11.590292930603027 + ], + "predicted_reocclusion": 0.5354688167572021, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.608431816101074, + 11.588105201721191, + 11.603989601135254, + 11.590292930603027 + ], + "predicted_reocclusion": 0.5354688167572021, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.58913516998291, + 11.568829536437988, + 11.584684371948242, + 11.57098388671875 + ], + "predicted_reocclusion": 0.5352646112442017, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.58913516998291, + 11.568829536437988, + 11.584684371948242, + 11.57098388671875 + ], + "predicted_reocclusion": 0.5352646112442017, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.58913516998291, + 11.568829536437988, + 11.584684371948242, + 11.57098388671875 + ], + "predicted_reocclusion": 0.5352646112442017, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.58913516998291, + 11.568829536437988, + 11.584684371948242, + 11.57098388671875 + ], + "predicted_reocclusion": 0.5352646112442017, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.579277992248535, + 11.558948516845703, + 11.574824333190918, + 11.561141014099121 + ], + "predicted_reocclusion": 0.5352468490600586, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.579277992248535, + 11.558948516845703, + 11.574824333190918, + 11.561141014099121 + ], + "predicted_reocclusion": 0.5352468490600586, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.579277992248535, + 11.558948516845703, + 11.574824333190918, + 11.561141014099121 + ], + "predicted_reocclusion": 0.5352468490600586, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.579277992248535, + 11.558948516845703, + 11.574824333190918, + 11.561141014099121 + ], + "predicted_reocclusion": 0.5352468490600586, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..0e002d3ba7a53570ab0820960a9c98c31c16e6f8 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge --tasks bimanual_put_bottle_in_fridge --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..d2af36273988be624bc676d273b5ed902b050c7c --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_bottle_in_fridge": { + "task_class": "BimanualPutBottleInFridge", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put bottle in fridge", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.617284774780273, + 11.603991508483887, + 11.592961311340332, + 11.604387283325195 + ], + "predicted_reocclusion": 0.46648383140563965, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.617284774780273, + 11.603991508483887, + 11.592961311340332, + 11.604387283325195 + ], + "predicted_reocclusion": 0.46648383140563965, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.617284774780273, + 11.603991508483887, + 11.592961311340332, + 11.604387283325195 + ], + "predicted_reocclusion": 0.46648383140563965, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.617284774780273, + 11.603991508483887, + 11.592961311340332, + 11.604387283325195 + ], + "predicted_reocclusion": 0.46648383140563965, + 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+ "predicted_reocclusion": 0.4707050621509552, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.40277099609375, + 11.389852523803711, + 11.381258010864258, + 11.391311645507812 + ], + "predicted_reocclusion": 0.4707050621509552, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.40277099609375, + 11.389852523803711, + 11.381258010864258, + 11.391311645507812 + ], + "predicted_reocclusion": 0.4707050621509552, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.40277099609375, + 11.389852523803711, + 11.381258010864258, + 11.391311645507812 + ], + "predicted_reocclusion": 0.4707050621509552, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..36343c57b9b37cb0fd681e2e5f2a551cd7ff2efc --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_put_bottle_in_fridge`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..92018a3ad7d7aca9f099034045619e510a971eff --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_bottle_in_fridge/stdout.txt @@ -0,0 +1,335 @@ +[ 0.05 -0.27500001 0.75199997] +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_bottle_in_fridge": { + "task_class": "BimanualPutBottleInFridge", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put bottle in fridge", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.617284774780273, + 11.603991508483887, + 11.592961311340332, + 11.604387283325195 + ], + "predicted_reocclusion": 0.46648383140563965, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.617284774780273, + 11.603991508483887, + 11.592961311340332, + 11.604387283325195 + ], + "predicted_reocclusion": 0.46648383140563965, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.617284774780273, + 11.603991508483887, + 11.592961311340332, + 11.604387283325195 + ], + "predicted_reocclusion": 0.46648383140563965, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.617284774780273, + 11.603991508483887, + 11.592961311340332, + 11.604387283325195 + ], + "predicted_reocclusion": 0.46648383140563965, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 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11.493010520935059 + ], + "predicted_reocclusion": 0.47061675786972046, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.45065975189209, + 11.437807083129883, + 11.42929744720459, + 11.439268112182617 + ], + "predicted_reocclusion": 0.47058993577957153, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.45065975189209, + 11.437807083129883, + 11.42929744720459, + 11.439268112182617 + ], + "predicted_reocclusion": 0.47058993577957153, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.45065975189209, + 11.437807083129883, + 11.42929744720459, + 11.439268112182617 + ], + "predicted_reocclusion": 0.47058993577957153, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.45065975189209, + 11.437807083129883, + 11.42929744720459, + 11.439268112182617 + ], + "predicted_reocclusion": 0.47058993577957153, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.416655540466309, + 11.403790473937988, + 11.39507007598877, + 11.405183792114258 + ], + "predicted_reocclusion": 0.47055739164352417, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.416655540466309, + 11.403790473937988, + 11.39507007598877, + 11.405183792114258 + ], + "predicted_reocclusion": 0.47055739164352417, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.416655540466309, + 11.403790473937988, + 11.39507007598877, + 11.405183792114258 + ], + "predicted_reocclusion": 0.47055739164352417, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.416655540466309, + 11.403790473937988, + 11.39507007598877, + 11.405183792114258 + ], + "predicted_reocclusion": 0.47055739164352417, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.40277099609375, + 11.389852523803711, + 11.381258010864258, + 11.391311645507812 + ], + "predicted_reocclusion": 0.4707050621509552, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.40277099609375, + 11.389852523803711, + 11.381258010864258, + 11.391311645507812 + ], + "predicted_reocclusion": 0.4707050621509552, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.40277099609375, + 11.389852523803711, + 11.381258010864258, + 11.391311645507812 + ], + "predicted_reocclusion": 0.4707050621509552, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.40277099609375, + 11.389852523803711, + 11.381258010864258, + 11.391311645507812 + ], + "predicted_reocclusion": 0.4707050621509552, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..763559a9ddd9cee1d48dcb4c24ed2df9f1f4c73f --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer --tasks bimanual_put_item_in_drawer --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..778fa74ae6e1cb7e208f38783c5249952c5dab8b --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_item_in_drawer": { + "task_class": "BimanualPutItemInDrawer", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put the item in the bottom drawer", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.668746948242188, + 11.627811431884766, + 11.656004905700684, + 11.657785415649414 + ], + "predicted_reocclusion": 0.493838369846344, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.668746948242188, + 11.627811431884766, + 11.656004905700684, + 11.657785415649414 + ], + "predicted_reocclusion": 0.493838369846344, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.668746948242188, + 11.627811431884766, + 11.656004905700684, + 11.657785415649414 + ], + "predicted_reocclusion": 0.493838369846344, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.668746948242188, + 11.627811431884766, + 11.656004905700684, + 11.657785415649414 + ], + "predicted_reocclusion": 0.493838369846344, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.599308013916016, + 11.5580415725708, + 11.584209442138672, + 11.587956428527832 + ], + "predicted_reocclusion": 0.4928761422634125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.599308013916016, + 11.5580415725708, + 11.584209442138672, + 11.587956428527832 + ], + "predicted_reocclusion": 0.4928761422634125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.599308013916016, + 11.5580415725708, + 11.584209442138672, + 11.587956428527832 + ], + "predicted_reocclusion": 0.4928761422634125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.599308013916016, + 11.5580415725708, + 11.584209442138672, + 11.587956428527832 + ], + "predicted_reocclusion": 0.4928761422634125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.564525604248047, + 11.523283958435059, + 11.549537658691406, + 11.55319595336914 + ], + "predicted_reocclusion": 0.4930340647697449, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.564525604248047, + 11.523283958435059, + 11.549537658691406, + 11.55319595336914 + ], + "predicted_reocclusion": 0.4930340647697449, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.564525604248047, + 11.523283958435059, + 11.549537658691406, + 11.55319595336914 + ], + "predicted_reocclusion": 0.4930340647697449, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.564525604248047, + 11.523283958435059, + 11.549537658691406, + 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.54377555847168, + 11.502500534057617, + 11.528753280639648, + 11.532443046569824 + ], + "predicted_reocclusion": 0.49306720495224, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.537642478942871, + 11.496336936950684, + 11.522603034973145, + 11.526345252990723 + ], + "predicted_reocclusion": 0.4930623769760132, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.537642478942871, + 11.496336936950684, + 11.522603034973145, + 11.526345252990723 + ], + "predicted_reocclusion": 0.4930623769760132, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.537642478942871, + 11.496336936950684, + 11.522603034973145, + 11.526345252990723 + ], + "predicted_reocclusion": 0.4930623769760132, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.537642478942871, + 11.496336936950684, + 11.522603034973145, + 11.526345252990723 + ], + "predicted_reocclusion": 0.4930623769760132, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..a245539e0ca92e3eadc420c8090b298c431a22a7 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_put_item_in_drawer`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..01bc097249ac84d394b61557c3304ae373f45a52 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/stderr.txt @@ -0,0 +1,8 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(False, 'waypoint2 - DualPanda') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (False, 'waypoint2 - DualPanda')). +WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (True, '')). diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..849e8e1fce8855ac4d070e585c642521bb4b38d2 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_put_item_in_drawer/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_item_in_drawer": { + "task_class": "BimanualPutItemInDrawer", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put the item in the bottom drawer", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.668746948242188, + 11.627811431884766, + 11.656004905700684, + 11.657785415649414 + ], + "predicted_reocclusion": 0.493838369846344, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.668746948242188, + 11.627811431884766, + 11.656004905700684, + 11.657785415649414 + ], + "predicted_reocclusion": 0.493838369846344, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.668746948242188, + 11.627811431884766, + 11.656004905700684, + 11.657785415649414 + ], + "predicted_reocclusion": 0.493838369846344, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.668746948242188, + 11.627811431884766, + 11.656004905700684, + 11.657785415649414 + ], + "predicted_reocclusion": 0.493838369846344, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.599308013916016, + 11.5580415725708, + 11.584209442138672, + 11.587956428527832 + ], + "predicted_reocclusion": 0.4928761422634125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.599308013916016, + 11.5580415725708, + 11.584209442138672, + 11.587956428527832 + ], + "predicted_reocclusion": 0.4928761422634125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.599308013916016, + 11.5580415725708, + 11.584209442138672, + 11.587956428527832 + ], + "predicted_reocclusion": 0.4928761422634125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.599308013916016, + 11.5580415725708, + 11.584209442138672, + 11.587956428527832 + ], + "predicted_reocclusion": 0.4928761422634125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.564525604248047, + 11.523283958435059, + 11.549537658691406, + 11.55319595336914 + ], + "predicted_reocclusion": 0.4930340647697449, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.564525604248047, + 11.523283958435059, + 11.549537658691406, + 11.55319595336914 + ], + "predicted_reocclusion": 0.4930340647697449, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.564525604248047, + 11.523283958435059, + 11.549537658691406, + 11.55319595336914 + ], + "predicted_reocclusion": 0.4930340647697449, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.564525604248047, + 11.523283958435059, + 11.549537658691406, + 11.55319595336914 + ], + "predicted_reocclusion": 0.4930340647697449, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.54377555847168, + 11.502500534057617, + 11.528753280639648, + 11.532443046569824 + ], + "predicted_reocclusion": 0.49306720495224, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.54377555847168, + 11.502500534057617, + 11.528753280639648, + 11.532443046569824 + ], + "predicted_reocclusion": 0.49306720495224, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.54377555847168, + 11.502500534057617, + 11.528753280639648, + 11.532443046569824 + ], + "predicted_reocclusion": 0.49306720495224, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.54377555847168, + 11.502500534057617, + 11.528753280639648, + 11.532443046569824 + ], + "predicted_reocclusion": 0.49306720495224, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.537642478942871, + 11.496336936950684, + 11.522603034973145, + 11.526345252990723 + ], + "predicted_reocclusion": 0.4930623769760132, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.537642478942871, + 11.496336936950684, + 11.522603034973145, + 11.526345252990723 + ], + "predicted_reocclusion": 0.4930623769760132, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.537642478942871, + 11.496336936950684, + 11.522603034973145, + 11.526345252990723 + ], + "predicted_reocclusion": 0.4930623769760132, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.537642478942871, + 11.496336936950684, + 11.522603034973145, + 11.526345252990723 + ], + "predicted_reocclusion": 0.4930623769760132, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..e2d4b5eb14b76768547c0f32ddb500077ab7a9b7 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope --tasks bimanual_straighten_rope --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..6577d491ae805ab62ccb14bb6a14ad598b4ca6be --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_straighten_rope": { + "task_class": "BimanualStraightenRope", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "straighten rope", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.767643928527832, + 10.750887870788574, + 10.7725248336792, + 10.750492095947266 + ], + "predicted_reocclusion": 0.45067298412323, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.767643928527832, + 10.750887870788574, + 10.7725248336792, + 10.750492095947266 + ], + "predicted_reocclusion": 0.45067298412323, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.767643928527832, + 10.750887870788574, + 10.7725248336792, + 10.750492095947266 + ], + "predicted_reocclusion": 0.45067298412323, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.767643928527832, + 10.750887870788574, + 10.7725248336792, + 10.750492095947266 + ], + "predicted_reocclusion": 0.45067298412323, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.666171073913574, + 10.650644302368164, + 10.66963005065918, + 10.649592399597168 + ], + "predicted_reocclusion": 0.45134055614471436, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.666171073913574, + 10.650644302368164, + 10.66963005065918, + 10.649592399597168 + ], + "predicted_reocclusion": 0.45134055614471436, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.666171073913574, + 10.650644302368164, + 10.66963005065918, + 10.649592399597168 + ], + "predicted_reocclusion": 0.45134055614471436, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.666171073913574, + 10.650644302368164, + 10.66963005065918, + 10.649592399597168 + ], + "predicted_reocclusion": 0.45134055614471436, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.616275787353516, + 10.600727081298828, + 10.619765281677246, + 10.599712371826172 + ], + "predicted_reocclusion": 0.4510175883769989, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.616275787353516, + 10.600727081298828, + 10.619765281677246, + 10.599712371826172 + ], + "predicted_reocclusion": 0.4510175883769989, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.616275787353516, + 10.600727081298828, + 10.619765281677246, + 10.599712371826172 + ], + "predicted_reocclusion": 0.4510175883769989, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.616275787353516, + 10.600727081298828, + 10.619765281677246, + 10.599712371826172 + ], + "predicted_reocclusion": 0.4510175883769989, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.58072280883789, + 10.56520938873291, + 10.584174156188965, + 10.564200401306152 + ], + "predicted_reocclusion": 0.45104873180389404, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.58072280883789, + 10.56520938873291, + 10.584174156188965, + 10.564200401306152 + ], + "predicted_reocclusion": 0.45104873180389404, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.58072280883789, + 10.56520938873291, + 10.584174156188965, + 10.564200401306152 + ], + "predicted_reocclusion": 0.45104873180389404, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.58072280883789, + 10.56520938873291, + 10.584174156188965, + 10.564200401306152 + ], + "predicted_reocclusion": 0.45104873180389404, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.568262100219727, + 10.55275821685791, + 10.571721076965332, + 10.551714897155762 + ], + "predicted_reocclusion": 0.4511478841304779, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.568262100219727, + 10.55275821685791, + 10.571721076965332, + 10.551714897155762 + ], + "predicted_reocclusion": 0.4511478841304779, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.568262100219727, + 10.55275821685791, + 10.571721076965332, + 10.551714897155762 + ], + "predicted_reocclusion": 0.4511478841304779, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.568262100219727, + 10.55275821685791, + 10.571721076965332, + 10.551714897155762 + ], + "predicted_reocclusion": 0.4511478841304779, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..0aceac6c34cd24ff7807067856d72b6847933a7b --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_straighten_rope`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..de16ca10e343ab1596c373b0acc9b1f42eb5de4a --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_straighten_rope/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_straighten_rope": { + "task_class": "BimanualStraightenRope", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "straighten rope", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.767643928527832, + 10.750887870788574, + 10.7725248336792, + 10.750492095947266 + ], + "predicted_reocclusion": 0.45067298412323, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.767643928527832, + 10.750887870788574, + 10.7725248336792, + 10.750492095947266 + ], + "predicted_reocclusion": 0.45067298412323, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.767643928527832, + 10.750887870788574, + 10.7725248336792, + 10.750492095947266 + ], + "predicted_reocclusion": 0.45067298412323, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.767643928527832, + 10.750887870788574, + 10.7725248336792, + 10.750492095947266 + ], + "predicted_reocclusion": 0.45067298412323, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.666171073913574, + 10.650644302368164, + 10.66963005065918, + 10.649592399597168 + ], + "predicted_reocclusion": 0.45134055614471436, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.666171073913574, + 10.650644302368164, + 10.66963005065918, + 10.649592399597168 + ], + "predicted_reocclusion": 0.45134055614471436, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.666171073913574, + 10.650644302368164, + 10.66963005065918, + 10.649592399597168 + ], + "predicted_reocclusion": 0.45134055614471436, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.666171073913574, + 10.650644302368164, + 10.66963005065918, + 10.649592399597168 + ], + "predicted_reocclusion": 0.45134055614471436, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.616275787353516, + 10.600727081298828, + 10.619765281677246, + 10.599712371826172 + ], + "predicted_reocclusion": 0.4510175883769989, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.616275787353516, + 10.600727081298828, + 10.619765281677246, + 10.599712371826172 + ], + "predicted_reocclusion": 0.4510175883769989, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.616275787353516, + 10.600727081298828, + 10.619765281677246, + 10.599712371826172 + ], + "predicted_reocclusion": 0.4510175883769989, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.616275787353516, + 10.600727081298828, + 10.619765281677246, + 10.599712371826172 + ], + "predicted_reocclusion": 0.4510175883769989, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.58072280883789, + 10.56520938873291, + 10.584174156188965, + 10.564200401306152 + ], + "predicted_reocclusion": 0.45104873180389404, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.58072280883789, + 10.56520938873291, + 10.584174156188965, + 10.564200401306152 + ], + "predicted_reocclusion": 0.45104873180389404, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.58072280883789, + 10.56520938873291, + 10.584174156188965, + 10.564200401306152 + ], + "predicted_reocclusion": 0.45104873180389404, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.58072280883789, + 10.56520938873291, + 10.584174156188965, + 10.564200401306152 + ], + "predicted_reocclusion": 0.45104873180389404, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.568262100219727, + 10.55275821685791, + 10.571721076965332, + 10.551714897155762 + ], + "predicted_reocclusion": 0.4511478841304779, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.568262100219727, + 10.55275821685791, + 10.571721076965332, + 10.551714897155762 + ], + "predicted_reocclusion": 0.4511478841304779, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.568262100219727, + 10.55275821685791, + 10.571721076965332, + 10.551714897155762 + ], + "predicted_reocclusion": 0.4511478841304779, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 10.568262100219727, + 10.55275821685791, + 10.571721076965332, + 10.551714897155762 + ], + "predicted_reocclusion": 0.4511478841304779, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..3f7f814656a8d28cf5123cf0b9131c92683603f9 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan --tasks bimanual_sweep_to_dustpan --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..3ff12924876f9f9c03c5da6e6da6b0a654fb75c6 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_sweep_to_dustpan": { + "task_class": "BimanualSweepToDustpan", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "sweep dirt to dustpan", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.227882385253906, + 11.183500289916992, + 11.198461532592773, + 11.223498344421387 + ], + "predicted_reocclusion": 0.5195314884185791, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.227882385253906, + 11.183500289916992, + 11.198461532592773, + 11.223498344421387 + ], + "predicted_reocclusion": 0.5195314884185791, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.227882385253906, + 11.183500289916992, + 11.198461532592773, + 11.223498344421387 + ], + "predicted_reocclusion": 0.5195314884185791, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.227882385253906, + 11.183500289916992, + 11.198461532592773, + 11.223498344421387 + ], + "predicted_reocclusion": 0.5195314884185791, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.140073776245117, + 11.097311973571777, + 11.112645149230957, + 11.138399124145508 + ], + "predicted_reocclusion": 0.5206031203269958, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.140073776245117, + 11.097311973571777, + 11.112645149230957, + 11.138399124145508 + ], + "predicted_reocclusion": 0.5206031203269958, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.140073776245117, + 11.097311973571777, + 11.112645149230957, + 11.138399124145508 + ], + "predicted_reocclusion": 0.5206031203269958, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.140073776245117, + 11.097311973571777, + 11.112645149230957, + 11.138399124145508 + ], + "predicted_reocclusion": 0.5206031203269958, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.101168632507324, + 11.058365821838379, + 11.073685646057129, + 11.099424362182617 + ], + "predicted_reocclusion": 0.5203448534011841, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.101168632507324, + 11.058365821838379, + 11.073685646057129, + 11.099424362182617 + ], + "predicted_reocclusion": 0.5203448534011841, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.101168632507324, + 11.058365821838379, + 11.073685646057129, + 11.099424362182617 + ], + "predicted_reocclusion": 0.5203448534011841, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.101168632507324, + 11.058365821838379, + 11.073685646057129, + 11.099424362182617 + ], + "predicted_reocclusion": 0.5203448534011841, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.07366943359375, + 11.030889511108398, + 11.046211242675781, + 11.071922302246094 + ], + "predicted_reocclusion": 0.5204677581787109, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.07366943359375, + 11.030889511108398, + 11.046211242675781, + 11.071922302246094 + ], + "predicted_reocclusion": 0.5204677581787109, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.07366943359375, + 11.030889511108398, + 11.046211242675781, + 11.071922302246094 + ], + "predicted_reocclusion": 0.5204677581787109, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.07366943359375, + 11.030889511108398, + 11.046211242675781, + 11.071922302246094 + ], + "predicted_reocclusion": 0.5204677581787109, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.066390037536621, + 11.02354907989502, + 11.038861274719238, + 11.064651489257812 + ], + "predicted_reocclusion": 0.5203290581703186, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.066390037536621, + 11.02354907989502, + 11.038861274719238, + 11.064651489257812 + ], + "predicted_reocclusion": 0.5203290581703186, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.066390037536621, + 11.02354907989502, + 11.038861274719238, + 11.064651489257812 + ], + "predicted_reocclusion": 0.5203290581703186, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.066390037536621, + 11.02354907989502, + 11.038861274719238, + 11.064651489257812 + ], + "predicted_reocclusion": 0.5203290581703186, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..1a4ea66d1d8cc392987b2431033e3474fcfddd75 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_sweep_to_dustpan`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..78bef238d741c9e6807c0352582c8b23f1b7dd8b --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_sweep_to_dustpan/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_sweep_to_dustpan": { + "task_class": "BimanualSweepToDustpan", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "sweep dirt to dustpan", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.227882385253906, + 11.183500289916992, + 11.198461532592773, + 11.223498344421387 + ], + "predicted_reocclusion": 0.5195314884185791, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.227882385253906, + 11.183500289916992, + 11.198461532592773, + 11.223498344421387 + ], + "predicted_reocclusion": 0.5195314884185791, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.227882385253906, + 11.183500289916992, + 11.198461532592773, + 11.223498344421387 + ], + "predicted_reocclusion": 0.5195314884185791, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.227882385253906, + 11.183500289916992, + 11.198461532592773, + 11.223498344421387 + ], + "predicted_reocclusion": 0.5195314884185791, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.140073776245117, + 11.097311973571777, + 11.112645149230957, + 11.138399124145508 + ], + "predicted_reocclusion": 0.5206031203269958, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.140073776245117, + 11.097311973571777, + 11.112645149230957, + 11.138399124145508 + ], + "predicted_reocclusion": 0.5206031203269958, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.140073776245117, + 11.097311973571777, + 11.112645149230957, + 11.138399124145508 + ], + "predicted_reocclusion": 0.5206031203269958, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.140073776245117, + 11.097311973571777, + 11.112645149230957, + 11.138399124145508 + ], + "predicted_reocclusion": 0.5206031203269958, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.101168632507324, + 11.058365821838379, + 11.073685646057129, + 11.099424362182617 + ], + "predicted_reocclusion": 0.5203448534011841, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.101168632507324, + 11.058365821838379, + 11.073685646057129, + 11.099424362182617 + ], + "predicted_reocclusion": 0.5203448534011841, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.101168632507324, + 11.058365821838379, + 11.073685646057129, + 11.099424362182617 + ], + "predicted_reocclusion": 0.5203448534011841, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.101168632507324, + 11.058365821838379, + 11.073685646057129, + 11.099424362182617 + ], + "predicted_reocclusion": 0.5203448534011841, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.07366943359375, + 11.030889511108398, + 11.046211242675781, + 11.071922302246094 + ], + "predicted_reocclusion": 0.5204677581787109, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.07366943359375, + 11.030889511108398, + 11.046211242675781, + 11.071922302246094 + ], + "predicted_reocclusion": 0.5204677581787109, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.07366943359375, + 11.030889511108398, + 11.046211242675781, + 11.071922302246094 + ], + "predicted_reocclusion": 0.5204677581787109, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.07366943359375, + 11.030889511108398, + 11.046211242675781, + 11.071922302246094 + ], + "predicted_reocclusion": 0.5204677581787109, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.066390037536621, + 11.02354907989502, + 11.038861274719238, + 11.064651489257812 + ], + "predicted_reocclusion": 0.5203290581703186, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.066390037536621, + 11.02354907989502, + 11.038861274719238, + 11.064651489257812 + ], + "predicted_reocclusion": 0.5203290581703186, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.066390037536621, + 11.02354907989502, + 11.038861274719238, + 11.064651489257812 + ], + "predicted_reocclusion": 0.5203290581703186, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 11.066390037536621, + 11.02354907989502, + 11.038861274719238, + 11.064651489257812 + ], + "predicted_reocclusion": 0.5203290581703186, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/command.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..0438cab076edb47e909d2dab2cdc3290e2b92adb --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven --tasks bimanual_take_tray_out_of_oven --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f9b40026da4a20fa097a5c0321ddfe74497d6dff --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_take_tray_out_of_oven": { + "task_class": "BimanualTakeTrayOutOfOven", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "take tray out of oven", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.429333686828613, + 11.39576530456543, + 11.429655075073242, + 11.414051055908203 + ], + "predicted_reocclusion": 0.47743040323257446, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.429333686828613, + 11.39576530456543, + 11.429655075073242, + 11.414051055908203 + ], + "predicted_reocclusion": 0.47743040323257446, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.429333686828613, + 11.39576530456543, + 11.429655075073242, + 11.414051055908203 + ], + "predicted_reocclusion": 0.47743040323257446, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.429333686828613, + 11.39576530456543, + 11.429655075073242, + 11.414051055908203 + ], + "predicted_reocclusion": 0.47743040323257446, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.350767135620117, + 11.317824363708496, + 11.351676940917969, + 11.33606243133545 + ], + "predicted_reocclusion": 0.476117879152298, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.350767135620117, + 11.317824363708496, + 11.351676940917969, + 11.33606243133545 + ], + "predicted_reocclusion": 0.476117879152298, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.350767135620117, + 11.317824363708496, + 11.351676940917969, + 11.33606243133545 + ], + "predicted_reocclusion": 0.476117879152298, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.350767135620117, + 11.317824363708496, + 11.351676940917969, + 11.33606243133545 + ], + "predicted_reocclusion": 0.476117879152298, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.311044692993164, + 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+ ], + "predicted_reocclusion": 0.47603553533554077, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.275595664978027, + 11.2426176071167, + 11.276453018188477, + 11.260879516601562 + ], + "predicted_reocclusion": 0.4759826064109802, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.275595664978027, + 11.2426176071167, + 11.276453018188477, + 11.260879516601562 + ], + "predicted_reocclusion": 0.4759826064109802, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.275595664978027, + 11.2426176071167, + 11.276453018188477, + 11.260879516601562 + ], + "predicted_reocclusion": 0.4759826064109802, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.275595664978027, + 11.2426176071167, + 11.276453018188477, + 11.260879516601562 + ], + "predicted_reocclusion": 0.4759826064109802, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.271624565124512, + 11.23859691619873, + 11.272493362426758, + 11.256925582885742 + ], + "predicted_reocclusion": 0.4760236144065857, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.271624565124512, + 11.23859691619873, + 11.272493362426758, + 11.256925582885742 + ], + "predicted_reocclusion": 0.4760236144065857, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.271624565124512, + 11.23859691619873, + 11.272493362426758, + 11.256925582885742 + ], + "predicted_reocclusion": 0.4760236144065857, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.271624565124512, + 11.23859691619873, + 11.272493362426758, + 11.256925582885742 + ], + "predicted_reocclusion": 0.4760236144065857, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..9c09468ff833d3cd11eed32d9a4b5079306356f6 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_take_tray_out_of_oven`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/stderr.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/stdout.txt b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..d75afd4d846f50dad817aa734cbbc1f273e4aa95 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_take_tray_out_of_oven": { + "task_class": "BimanualTakeTrayOutOfOven", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "take tray out of oven", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.429333686828613, + 11.39576530456543, + 11.429655075073242, + 11.414051055908203 + ], + "predicted_reocclusion": 0.47743040323257446, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.429333686828613, + 11.39576530456543, + 11.429655075073242, + 11.414051055908203 + ], + "predicted_reocclusion": 0.47743040323257446, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": 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"noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.275595664978027, + 11.2426176071167, + 11.276453018188477, + 11.260879516601562 + ], + "predicted_reocclusion": 0.4759826064109802, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.271624565124512, + 11.23859691619873, + 11.272493362426758, + 11.256925582885742 + ], + "predicted_reocclusion": 0.4760236144065857, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.271624565124512, + 11.23859691619873, + 11.272493362426758, + 11.256925582885742 + ], + "predicted_reocclusion": 0.4760236144065857, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.271624565124512, + 11.23859691619873, + 11.272493362426758, + 11.256925582885742 + ], + "predicted_reocclusion": 0.4760236144065857, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "slide_occluder", + "planner_scores": [ + 11.271624565124512, + 11.23859691619873, + 11.272493362426758, + 11.256925582885742 + ], + "predicted_reocclusion": 0.4760236144065857, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_baseline_ep2/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.json b/artifacts/reports/peract2_baseline_ep2/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..36b38b95d78c85af02c7ac0f5968540158eafba5 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep2/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,27 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 2, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep2/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.md b/artifacts/reports/peract2_baseline_ep2/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..a79aa86434584c8ae14e583746281cddb52615c3 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep2/baseline_rgbd_seed17_plan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: error=The call failed on the V-REP side. 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"corridor_availability": 0.06172839552164078, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.003004772122949362 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20086, + "episode_index": 86, + "success": 0.0, + "visibility_integral": 8.826186180114746, + "corridor_availability": 0.09876543283462524, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.0037622686941176653 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20087, + "episode_index": 87, + "success": 0.0, + "visibility_integral": 9.220452308654785, + "corridor_availability": 0.09876543283462524, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.004172769375145435 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20088, + "episode_index": 88, + "success": 0.0, + "visibility_integral": 4.801349639892578, + "corridor_availability": 0.03703703731298447, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.01304108276963234 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20089, + "episode_index": 89, + "success": 0.0, + "visibility_integral": 6.859264850616455, + "corridor_availability": 0.08641975373029709, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.01589270308613777 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20090, + "episode_index": 90, + "success": 0.0, + "visibility_integral": 6.0477070808410645, + "corridor_availability": 0.06172839552164078, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.007370410021394491 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20091, + "episode_index": 91, + "success": 0.0, + "visibility_integral": 5.712279319763184, + "corridor_availability": 0.08641975373029709, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.0017739626346156001 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20092, + "episode_index": 92, + "success": 0.0, + "visibility_integral": 7.034610271453857, + "corridor_availability": 0.08641975373029709, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.017800092697143555 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20093, + "episode_index": 93, + "success": 0.0, + "visibility_integral": 4.950657844543457, + "corridor_availability": 0.06172839552164078, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.0026904523838311434 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20094, + "episode_index": 94, + "success": 0.0, + "visibility_integral": 7.945932865142822, + "corridor_availability": 0.08641975373029709, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.002616248093545437 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20095, + "episode_index": 95, + "success": 0.0, + "visibility_integral": 10.329326629638672, + "corridor_availability": 0.1111111119389534, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.004446734674274921 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20096, + "episode_index": 96, + "success": 0.0, + "visibility_integral": 6.681445598602295, + "corridor_availability": 0.08641975373029709, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.014950993470847607 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20097, + "episode_index": 97, + "success": 0.0, + "visibility_integral": 8.015640258789062, + "corridor_availability": 0.07407407462596893, + "reocclusion_rate": 0.0125, + "disturbance_cost": 0.01178380474448204 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20098, + "episode_index": 98, + "success": 1.0, + "visibility_integral": 1.4061121940612793, + "corridor_availability": 1.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.054610058665275574 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20099, + "episode_index": 99, + "success": 0.0, + "visibility_integral": 5.905001640319824, + "corridor_availability": 0.06172839552164078, + "reocclusion_rate": 0.025, + "disturbance_cost": 0.017082640901207924 + } + ], + "paired_seed_summary_vs_base": { + "paired_episodes": 300.0, + "success_delta": -0.36666666666666664, + "visibility_delta": -24.69287902534008, + "reocclusion_delta": -0.05666558441558441, + "disturbance_delta": -0.031521560290517905 + } + } +} \ No newline at end of file diff --git a/artifacts/reports/reveal_handoff_compare_serious/reveal_benchmark.md b/artifacts/reports/reveal_handoff_compare_serious/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..6a674e4df6cf51da15a0cdf6b0a77f212b14eab0 --- /dev/null +++ b/artifacts/reports/reveal_handoff_compare_serious/reveal_benchmark.md @@ -0,0 +1,40 @@ +# Reveal Proxy Benchmark + +## base +- checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt +- benchmark_mode: serious +- episodes: 100.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.583 +- visibility_integral: 28.273 +- corridor_availability: 0.805 +- reocclusion_rate: 0.080 +- persistence_horizon_mae: 1.138 +- disturbance_cost: 0.376 +- success_ci_low: 0.527 +- success_ci_high: 0.637 +- foliage_proxy_success: 0.560 +- bag_proxy_success: 0.500 +- cloth_proxy_success: 0.690 + +## handoff +- checkpoint: /workspace/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_seed17/checkpoint_best.pt +- benchmark_mode: serious +- episodes: 100.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.217 +- visibility_integral: 3.580 +- corridor_availability: 0.188 +- reocclusion_rate: 0.023 +- persistence_horizon_mae: 3.865 +- disturbance_cost: 0.344 +- success_ci_low: 0.167 +- success_ci_high: 0.263 +- foliage_proxy_success: 0.330 +- bag_proxy_success: 0.150 +- cloth_proxy_success: 0.170 +- paired_paired_episodes_vs_base: 300.000 +- paired_success_delta_vs_base: -0.367 +- paired_visibility_delta_vs_base: -24.693 +- paired_reocclusion_delta_vs_base: -0.057 +- paired_disturbance_delta_vs_base: -0.032 diff --git a/artifacts/reports/rlbench_debug_baseline_pushbox/rollout_eval.json b/artifacts/reports/rlbench_debug_baseline_pushbox/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..5ff4e0666458111fa487c13513c6417c8ed2f731 --- /dev/null +++ b/artifacts/reports/rlbench_debug_baseline_pushbox/rollout_eval.json @@ -0,0 +1,190 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "episodes_per_task": 1, + "episode_length": 10, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.12021255493164, + 11.17137622833252, + 11.110960960388184, + 11.140924453735352 + ], + "predicted_reocclusion": 0.4946277141571045, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.12021255493164, + 11.17137622833252, + 11.110960960388184, + 11.140924453735352 + ], + "predicted_reocclusion": 0.4946277141571045, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.12021255493164, + 11.17137622833252, + 11.110960960388184, + 11.140924453735352 + ], + "predicted_reocclusion": 0.4946277141571045, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.12021255493164, + 11.17137622833252, + 11.110960960388184, + 11.140924453735352 + ], + "predicted_reocclusion": 0.4946277141571045, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.06480598449707, + 11.108932495117188, + 11.05050277709961, + 11.079869270324707 + ], + "predicted_reocclusion": 0.4953795373439789, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.06480598449707, + 11.108932495117188, + 11.05050277709961, + 11.079869270324707 + ], + "predicted_reocclusion": 0.4953795373439789, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.06480598449707, + 11.108932495117188, + 11.05050277709961, + 11.079869270324707 + ], + "predicted_reocclusion": 0.4953795373439789, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.06480598449707, + 11.108932495117188, + 11.05050277709961, + 11.079869270324707 + ], + "predicted_reocclusion": 0.4953795373439789, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.019391059875488, + 11.063484191894531, + 11.005136489868164, + 11.034459114074707 + ], + "predicted_reocclusion": 0.4953708052635193, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.019391059875488, + 11.063484191894531, + 11.005136489868164, + 11.034459114074707 + ], + "predicted_reocclusion": 0.4953708052635193, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_debug_baseline_pushbox/rollout_eval.md b/artifacts/reports/rlbench_debug_baseline_pushbox/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..54175b3ac72816ea723ff58ebbfe2076a7923e2d --- /dev/null +++ b/artifacts/reports/rlbench_debug_baseline_pushbox/rollout_eval.md @@ -0,0 +1,11 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_debug_compact_pushbox/rollout_eval.json b/artifacts/reports/rlbench_debug_compact_pushbox/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..7737a2af447e6de038e0cfa9b21a990195d532c0 --- /dev/null +++ b/artifacts/reports/rlbench_debug_compact_pushbox/rollout_eval.json @@ -0,0 +1,190 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "episodes_per_task": 1, + "episode_length": 10, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + -0.22704719007015228, + 1.7061406373977661, + -1.0103380680084229, + 1.9238992929458618 + ], + "predicted_reocclusion": 0.26024702191352844, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + -0.22704719007015228, + 1.7061406373977661, + -1.0103380680084229, + 1.9238992929458618 + ], + "predicted_reocclusion": 0.26024702191352844, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + -0.22704719007015228, + 1.7061406373977661, + -1.0103380680084229, + 1.9238992929458618 + ], + "predicted_reocclusion": 0.26024702191352844, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + -0.22704719007015228, + 1.7061406373977661, + -1.0103380680084229, + 1.9238992929458618 + ], + "predicted_reocclusion": 0.26024702191352844, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + -0.8159061074256897, + 1.373657464981079, + -1.5066943168640137, + 1.826850175857544 + ], + "predicted_reocclusion": 0.37646347284317017, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + -0.8159061074256897, + 1.373657464981079, + -1.5066943168640137, + 1.826850175857544 + ], + "predicted_reocclusion": 0.37646347284317017, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + -0.8159061074256897, + 1.373657464981079, + -1.5066943168640137, + 1.826850175857544 + ], + "predicted_reocclusion": 0.37646347284317017, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + -0.8159061074256897, + 1.373657464981079, + -1.5066943168640137, + 1.826850175857544 + ], + "predicted_reocclusion": 0.37646347284317017, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + -0.7833333015441895, + 1.4015564918518066, + -1.4955592155456543, + 1.833822250366211 + ], + "predicted_reocclusion": 0.37578582763671875, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "maintain_opening", + "planner_scores": [ + -0.7833333015441895, + 1.4015564918518066, + -1.4955592155456543, + 1.833822250366211 + ], + "predicted_reocclusion": 0.37578582763671875, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_debug_compact_pushbox/rollout_eval.md b/artifacts/reports/rlbench_debug_compact_pushbox/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..2f5ce35c3722551cd5c1ecd05c310cbcc687c1ec --- /dev/null +++ b/artifacts/reports/rlbench_debug_compact_pushbox/rollout_eval.md @@ -0,0 +1,11 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_debug_spatial_pushbox_nogeom/rollout_eval.json b/artifacts/reports/rlbench_debug_spatial_pushbox_nogeom/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..87ef275ada15372a2345a02ba501a58f58567aa3 --- /dev/null +++ b/artifacts/reports/rlbench_debug_spatial_pushbox_nogeom/rollout_eval.json @@ -0,0 +1,137 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": false, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 6, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.943035125732422, + 5.930190563201904, + 11.751798629760742, + 5.647165298461914 + ], + "predicted_reocclusion": 0.38238975405693054, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.943035125732422, + 5.930190563201904, + 11.751798629760742, + 5.647165298461914 + ], + "predicted_reocclusion": 0.38238975405693054, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.943035125732422, + 5.930190563201904, + 11.751798629760742, + 5.647165298461914 + ], + "predicted_reocclusion": 0.38238975405693054, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.943035125732422, + 5.930190563201904, + 11.751798629760742, + 5.647165298461914 + ], + "predicted_reocclusion": 0.38238975405693054, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.48142147064209, + 6.107066631317139, + 5.688070297241211, + 11.982735633850098 + ], + "predicted_reocclusion": 0.39254671335220337, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.48142147064209, + 6.107066631317139, + 5.688070297241211, + 11.982735633850098 + ], + "predicted_reocclusion": 0.39254671335220337, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_debug_spatial_pushbox_nogeom/rollout_eval.md b/artifacts/reports/rlbench_debug_spatial_pushbox_nogeom/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d995b4abf020af1e1938572f5ea1029068fcc630 --- /dev/null +++ b/artifacts/reports/rlbench_debug_spatial_pushbox_nogeom/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `False` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1/rollout_eval.json b/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..38dfe093dc59d299a57a2a21e1b0446e2d0f6433 --- /dev/null +++ b/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1/rollout_eval.json @@ -0,0 +1,278 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 25, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 20, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1/rollout_eval.md b/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..9eecf44e6fb61c3e6ae3a7c1e494d3fe5872d3cc --- /dev/null +++ b/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_push_box_knn_step1_ep1/rollout_eval.json b/artifacts/reports/rlbench_push_box_knn_step1_ep1/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..a3a66a35839a3741477c2b6a3e581f7adf62034d --- /dev/null +++ b/artifacts/reports/rlbench_push_box_knn_step1_ep1/rollout_eval.json @@ -0,0 +1,109 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 1, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 4, + "top_k": 5, + "time_window": 8, + "bank_size": 2815, + "successes": [ + 1.0 + ], + "returns": [ + 1.0 + ], + "path_recoveries": [ + 1 + ], + "noop_fallbacks": [ + 0 + ], + "mean_success": 1.0, + "mean_return": 1.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_push_box_knn_step1_ep10_top1_dense_rerun/rollout_eval.json b/artifacts/reports/rlbench_push_box_knn_step1_ep10_top1_dense_rerun/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..cfc3a75d08b85fea45d757b024c7bebe967429d8 --- /dev/null +++ b/artifacts/reports/rlbench_push_box_knn_step1_ep10_top1_dense_rerun/rollout_eval.json @@ -0,0 +1,157 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0 + ], + "returns": [ + 1.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.4, + "mean_return": 0.4 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_push_box_knn_step1_ep5/rollout_eval.json b/artifacts/reports/rlbench_push_box_knn_step1_ep5/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..b587e38e4a63cb7f14741a1662454784b90dc0e3 --- /dev/null +++ b/artifacts/reports/rlbench_push_box_knn_step1_ep5/rollout_eval.json @@ -0,0 +1,125 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 5, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 4, + "top_k": 5, + "time_window": 8, + "bank_size": 2815, + "successes": [ + 0.0, + 1.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 1.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 45, + 15, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "mean_success": 0.2, + "mean_return": 0.2 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/command.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..a92335935c0bfef7d1e487f0fb2444fbe41f9c4f --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/stderr.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..51498bc5abe050ccf0ac6478394598e76e915474 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,17 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 405, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 141, in main + incompatible = model.load_state_dict(checkpoint["state_dict"], strict=False) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 2189, in load_state_dict + raise RuntimeError('Error(s) in loading state_dict for {}:\n\t{}'.format( +RuntimeError: Error(s) in loading state_dict for BackboneOnlyPolicy: + size mismatch for decoder.proposal_score.0.weight: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.0.bias: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.1.weight: copying a param with shape torch.Size([1, 512]) from checkpoint, the shape in current model is torch.Size([1, 1536]). diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/stdout.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/command.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..80b4ae0cd1fd47e60f4beb2f8c07e8010f55f19f --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/stderr.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..51498bc5abe050ccf0ac6478394598e76e915474 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,17 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 405, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 141, in main + incompatible = model.load_state_dict(checkpoint["state_dict"], strict=False) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 2189, in load_state_dict + raise RuntimeError('Error(s) in loading state_dict for {}:\n\t{}'.format( +RuntimeError: Error(s) in loading state_dict for BackboneOnlyPolicy: + size mismatch for decoder.proposal_score.0.weight: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.0.bias: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.1.weight: copying a param with shape torch.Size([1, 512]) from checkpoint, the shape in current model is torch.Size([1, 1536]). diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/stdout.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_push_box/command.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..808065bdcd5c08fae7eea273a27375c8bbc0ea9e --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_push_box/stderr.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..51498bc5abe050ccf0ac6478394598e76e915474 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,17 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 405, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 141, in main + incompatible = model.load_state_dict(checkpoint["state_dict"], strict=False) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 2189, in load_state_dict + raise RuntimeError('Error(s) in loading state_dict for {}:\n\t{}'.format( +RuntimeError: Error(s) in loading state_dict for BackboneOnlyPolicy: + size mismatch for decoder.proposal_score.0.weight: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.0.bias: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.1.weight: copying a param with shape torch.Size([1, 512]) from checkpoint, the shape in current model is torch.Size([1, 1536]). diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_push_box/stdout.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/rollout_eval.json b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..4a2a6968a5466253e53c1af237df95f57defc9a4 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/rollout_eval.json @@ -0,0 +1,44 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_lift_ball": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_push_box": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [ + "bimanual_dual_push_buttons", + "bimanual_lift_ball", + "bimanual_push_box" + ], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/rollout_eval.md b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..af718e546efb07beae6cf1f7c455c5473bd9e7cd --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe/subset3_backbone_only_clip_plan_split/rollout_eval.md @@ -0,0 +1,21 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `['bimanual_dual_push_buttons', 'bimanual_lift_ball', 'bimanual_push_box']` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/command.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..428e983507ca21110b7a1e7f406a20ae4127d720 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/stderr.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..d140f8a48bc2ccb9211d012a03195527715e9cdf --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,20 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 405, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 141, in main + incompatible = model.load_state_dict(checkpoint["state_dict"], strict=False) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 2189, in load_state_dict + raise RuntimeError('Error(s) in loading state_dict for {}:\n\t{}'.format( +RuntimeError: Error(s) in loading state_dict for RevealBimanualPolicy: + size mismatch for decoder.proposal_score.0.weight: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.0.bias: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.1.weight: copying a param with shape torch.Size([1, 512]) from checkpoint, the shape in current model is torch.Size([1, 1536]). + size mismatch for world_model.initial.0.weight: copying a param with shape torch.Size([615]) from checkpoint, the shape in current model is torch.Size([1131]). + size mismatch for world_model.initial.0.bias: copying a param with shape torch.Size([615]) from checkpoint, the shape in current model is torch.Size([1131]). + size mismatch for world_model.initial.1.weight: copying a param with shape torch.Size([512, 615]) from checkpoint, the shape in current model is torch.Size([512, 1131]). diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/stdout.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/command.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..d92cbb8294289fef0f9d447867c5cc9c65105a68 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/stderr.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..d140f8a48bc2ccb9211d012a03195527715e9cdf --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,20 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 405, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 141, in main + incompatible = model.load_state_dict(checkpoint["state_dict"], strict=False) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 2189, in load_state_dict + raise RuntimeError('Error(s) in loading state_dict for {}:\n\t{}'.format( +RuntimeError: Error(s) in loading state_dict for RevealBimanualPolicy: + size mismatch for decoder.proposal_score.0.weight: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.0.bias: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.1.weight: copying a param with shape torch.Size([1, 512]) from checkpoint, the shape in current model is torch.Size([1, 1536]). + size mismatch for world_model.initial.0.weight: copying a param with shape torch.Size([615]) from checkpoint, the shape in current model is torch.Size([1131]). + size mismatch for world_model.initial.0.bias: copying a param with shape torch.Size([615]) from checkpoint, the shape in current model is torch.Size([1131]). + size mismatch for world_model.initial.1.weight: copying a param with shape torch.Size([512, 615]) from checkpoint, the shape in current model is torch.Size([512, 1131]). diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/stdout.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_push_box/command.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..bc868ce8c7f082242388c13e2e1b4d66fac1f759 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_push_box/stderr.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..d140f8a48bc2ccb9211d012a03195527715e9cdf --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,20 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 405, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 141, in main + incompatible = model.load_state_dict(checkpoint["state_dict"], strict=False) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 2189, in load_state_dict + raise RuntimeError('Error(s) in loading state_dict for {}:\n\t{}'.format( +RuntimeError: Error(s) in loading state_dict for RevealBimanualPolicy: + size mismatch for decoder.proposal_score.0.weight: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.0.bias: copying a param with shape torch.Size([512]) from checkpoint, the shape in current model is torch.Size([1536]). + size mismatch for decoder.proposal_score.1.weight: copying a param with shape torch.Size([1, 512]) from checkpoint, the shape in current model is torch.Size([1, 1536]). + size mismatch for world_model.initial.0.weight: copying a param with shape torch.Size([615]) from checkpoint, the shape in current model is torch.Size([1131]). + size mismatch for world_model.initial.0.bias: copying a param with shape torch.Size([615]) from checkpoint, the shape in current model is torch.Size([1131]). + size mismatch for world_model.initial.1.weight: copying a param with shape torch.Size([512, 615]) from checkpoint, the shape in current model is torch.Size([512, 1131]). diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_push_box/stdout.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/rollout_eval.json b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..cb454c512ec706b60a220182a4ed6f432013841c --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/rollout_eval.json @@ -0,0 +1,44 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_lift_ball": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_push_box": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [ + "bimanual_dual_push_buttons", + "bimanual_lift_ball", + "bimanual_push_box" + ], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/rollout_eval.md b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..08ca20485bbc87606cc47da211049ee1a21f2cf1 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe/subset3_reveal_state_clip_plan_split/rollout_eval.md @@ -0,0 +1,21 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `['bimanual_dual_push_buttons', 'bimanual_lift_ball', 'bimanual_push_box']` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1