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- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/rollout_eval.json +333 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/stdout.txt +334 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.json +333 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/stdout.txt +334 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/rollout_eval.json +333 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/stderr.txt +8 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/stdout.txt +334 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.json +333 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/stdout.txt +335 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.json +333 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/stdout.txt +334 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/rollout_eval.json +333 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/stdout.txt +334 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.json +333 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/stdout.txt +334 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json +333 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/stderr.txt +6 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/stdout.txt +334 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/rollout_eval.json +0 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/rollout_eval.md +31 -0
- artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/command.txt +1 -0
- artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/rollout_eval.json +333 -0
- artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/stdout.txt +334 -0
- artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.json +1854 -0
- artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.md +14 -0
- artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.partial.json +1854 -0
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/command.txt
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/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_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
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artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/rollout_eval.json
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| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
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"plan_applied": true,
|
| 5 |
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"planner_mode": "trainable",
|
| 6 |
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"support_mode_conditioning": true,
|
| 7 |
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"task_conditioning": true,
|
| 8 |
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"geometry_enabled": true,
|
| 9 |
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"world_model_mode": "checkpoint_default",
|
| 10 |
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"episodes_per_task": 1,
|
| 11 |
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"episode_length": 20,
|
| 12 |
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"resolution": 224,
|
| 13 |
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"reset_retries": 20,
|
| 14 |
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"cameras": [
|
| 15 |
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"front",
|
| 16 |
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"wrist_left",
|
| 17 |
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"wrist_right"
|
| 18 |
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],
|
| 19 |
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"tasks": {
|
| 20 |
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"bimanual_handover_item": {
|
| 21 |
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"task_class": "BimanualHandoverItem",
|
| 22 |
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"successes": [
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| 23 |
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0.0
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| 24 |
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],
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| 25 |
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"returns": [
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| 26 |
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0.0
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| 27 |
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],
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| 28 |
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"path_recoveries": [
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| 29 |
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| 30 |
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],
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| 31 |
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"noop_fallbacks": [
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| 32 |
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| 33 |
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],
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| 34 |
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"reset_retries": [
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| 35 |
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| 36 |
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],
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| 37 |
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"episode_traces": [
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| 38 |
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{
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| 39 |
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"language_goal": "bring me the red item",
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| 40 |
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"steps": [
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| 41 |
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{
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| 42 |
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"timestep": 0,
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| 43 |
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"chosen_macro_mode": "widen_opening",
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"planner_scores": [
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],
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"predicted_reocclusion": 0.38123729825019836,
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"path_recoveries": 0,
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| 54 |
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},
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{
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},
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{
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{
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},
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{
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"chosen_macro_mode": "lift_support_layer",
|
| 114 |
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"planner_scores": [
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| 115 |
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],
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| 120 |
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"predicted_reocclusion": 0.3900315463542938,
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| 121 |
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"support_mode_conditioning": true,
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| 122 |
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"path_recoveries": 0,
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| 123 |
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"noop_fallbacks": 0
|
| 124 |
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},
|
| 125 |
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{
|
| 126 |
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"timestep": 6,
|
| 127 |
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"chosen_macro_mode": "lift_support_layer",
|
| 128 |
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"planner_scores": [
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| 129 |
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11.602302551269531,
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| 130 |
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| 131 |
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|
| 132 |
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12.071534156799316
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| 133 |
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],
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| 134 |
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"predicted_reocclusion": 0.3900315463542938,
|
| 135 |
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"support_mode_conditioning": true,
|
| 136 |
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"path_recoveries": 0,
|
| 137 |
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"noop_fallbacks": 0
|
| 138 |
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},
|
| 139 |
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{
|
| 140 |
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"timestep": 7,
|
| 141 |
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"chosen_macro_mode": "lift_support_layer",
|
| 142 |
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"planner_scores": [
|
| 143 |
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11.602302551269531,
|
| 144 |
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6.308506488800049,
|
| 145 |
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|
| 146 |
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12.071534156799316
|
| 147 |
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],
|
| 148 |
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"predicted_reocclusion": 0.3900315463542938,
|
| 149 |
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"support_mode_conditioning": true,
|
| 150 |
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"path_recoveries": 0,
|
| 151 |
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"noop_fallbacks": 0
|
| 152 |
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},
|
| 153 |
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{
|
| 154 |
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"timestep": 8,
|
| 155 |
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"chosen_macro_mode": "widen_opening",
|
| 156 |
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"planner_scores": [
|
| 157 |
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13.527048110961914,
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| 158 |
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5.815503120422363,
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| 159 |
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11.631821632385254,
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| 160 |
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5.5334153175354
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| 161 |
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],
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| 162 |
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"predicted_reocclusion": 0.3796631693840027,
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| 163 |
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"support_mode_conditioning": true,
|
| 164 |
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"path_recoveries": 0,
|
| 165 |
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"noop_fallbacks": 0
|
| 166 |
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},
|
| 167 |
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{
|
| 168 |
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"timestep": 9,
|
| 169 |
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"chosen_macro_mode": "widen_opening",
|
| 170 |
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"planner_scores": [
|
| 171 |
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13.527048110961914,
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| 172 |
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5.815503120422363,
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| 173 |
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11.631821632385254,
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| 174 |
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5.5334153175354
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| 175 |
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],
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| 176 |
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"predicted_reocclusion": 0.3796631693840027,
|
| 177 |
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"support_mode_conditioning": true,
|
| 178 |
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"path_recoveries": 0,
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| 179 |
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"noop_fallbacks": 0
|
| 180 |
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},
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| 181 |
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{
|
| 182 |
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"timestep": 10,
|
| 183 |
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"chosen_macro_mode": "widen_opening",
|
| 184 |
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"planner_scores": [
|
| 185 |
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13.527048110961914,
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| 186 |
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5.815503120422363,
|
| 187 |
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11.631821632385254,
|
| 188 |
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|
| 189 |
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],
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| 190 |
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"predicted_reocclusion": 0.3796631693840027,
|
| 191 |
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"support_mode_conditioning": true,
|
| 192 |
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| 193 |
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"noop_fallbacks": 0
|
| 194 |
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},
|
| 195 |
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{
|
| 196 |
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"timestep": 11,
|
| 197 |
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"chosen_macro_mode": "widen_opening",
|
| 198 |
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"planner_scores": [
|
| 199 |
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| 201 |
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| 202 |
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| 203 |
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],
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| 204 |
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"predicted_reocclusion": 0.3796631693840027,
|
| 205 |
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"support_mode_conditioning": true,
|
| 206 |
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"path_recoveries": 0,
|
| 207 |
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"noop_fallbacks": 0
|
| 208 |
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},
|
| 209 |
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{
|
| 210 |
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"timestep": 12,
|
| 211 |
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"chosen_macro_mode": "lift_support_layer",
|
| 212 |
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"planner_scores": [
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| 213 |
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| 214 |
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| 215 |
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| 216 |
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12.01603889465332
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| 217 |
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],
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| 218 |
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"predicted_reocclusion": 0.3898167610168457,
|
| 219 |
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"support_mode_conditioning": true,
|
| 220 |
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"path_recoveries": 0,
|
| 221 |
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"noop_fallbacks": 0
|
| 222 |
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},
|
| 223 |
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{
|
| 224 |
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"timestep": 13,
|
| 225 |
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"chosen_macro_mode": "lift_support_layer",
|
| 226 |
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"planner_scores": [
|
| 227 |
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| 228 |
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| 229 |
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| 231 |
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| 232 |
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"predicted_reocclusion": 0.3898167610168457,
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| 233 |
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"support_mode_conditioning": true,
|
| 234 |
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| 235 |
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|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
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"timestep": 14,
|
| 239 |
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"chosen_macro_mode": "lift_support_layer",
|
| 240 |
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"planner_scores": [
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| 241 |
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| 245 |
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| 246 |
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|
| 247 |
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|
| 248 |
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| 249 |
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|
| 250 |
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| 251 |
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{
|
| 252 |
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"timestep": 15,
|
| 253 |
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| 254 |
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|
| 262 |
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| 263 |
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| 264 |
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| 265 |
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{
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| 266 |
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| 267 |
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| 268 |
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| 269 |
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],
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| 274 |
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"predicted_reocclusion": 0.3766701817512512,
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| 275 |
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|
| 276 |
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| 277 |
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|
| 278 |
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},
|
| 279 |
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{
|
| 280 |
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"timestep": 17,
|
| 281 |
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|
| 282 |
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"planner_scores": [
|
| 283 |
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| 284 |
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| 285 |
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],
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| 288 |
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| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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},
|
| 293 |
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{
|
| 294 |
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"timestep": 18,
|
| 295 |
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|
| 296 |
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|
| 297 |
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| 299 |
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|
| 300 |
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| 301 |
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],
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| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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{
|
| 308 |
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"timestep": 19,
|
| 309 |
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|
| 310 |
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"planner_scores": [
|
| 311 |
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12.73471736907959,
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| 312 |
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5.7906084060668945,
|
| 313 |
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11.548457145690918,
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| 315 |
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],
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| 316 |
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"predicted_reocclusion": 0.3766701817512512,
|
| 317 |
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|
| 318 |
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|
| 319 |
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"noop_fallbacks": 0
|
| 320 |
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}
|
| 321 |
+
],
|
| 322 |
+
"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
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"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
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|
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|
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|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `True`
|
| 5 |
+
- Plan applied: `True`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_handover_item`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
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|
| 1 |
+
/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
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/stdout.txt
ADDED
|
@@ -0,0 +1,334 @@
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|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
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"support_mode_conditioning": true,
|
| 7 |
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"task_conditioning": true,
|
| 8 |
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"geometry_enabled": true,
|
| 9 |
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"world_model_mode": "checkpoint_default",
|
| 10 |
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"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_handover_item": {
|
| 21 |
+
"task_class": "BimanualHandoverItem",
|
| 22 |
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"successes": [
|
| 23 |
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0.0
|
| 24 |
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],
|
| 25 |
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|
| 26 |
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0.0
|
| 27 |
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],
|
| 28 |
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|
| 29 |
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0
|
| 30 |
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],
|
| 31 |
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"noop_fallbacks": [
|
| 32 |
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0
|
| 33 |
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],
|
| 34 |
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"reset_retries": [
|
| 35 |
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0
|
| 36 |
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],
|
| 37 |
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"episode_traces": [
|
| 38 |
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{
|
| 39 |
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"language_goal": "bring me the red item",
|
| 40 |
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|
| 41 |
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{
|
| 42 |
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| 43 |
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| 44 |
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| 49 |
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| 53 |
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| 54 |
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| 55 |
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| 56 |
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| 68 |
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| 69 |
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{
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| 70 |
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|
| 71 |
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|
| 72 |
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| 75 |
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| 77 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 96 |
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| 124 |
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| 125 |
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{
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| 126 |
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| 139 |
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| 179 |
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| 181 |
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{
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| 236 |
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{
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{
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],
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| 287 |
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],
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|
| 290 |
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|
| 291 |
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|
| 292 |
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},
|
| 293 |
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{
|
| 294 |
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|
| 295 |
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|
| 296 |
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],
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| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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},
|
| 307 |
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{
|
| 308 |
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"timestep": 19,
|
| 309 |
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|
| 310 |
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"planner_scores": [
|
| 311 |
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|
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|
| 313 |
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|
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|
| 315 |
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],
|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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}
|
| 321 |
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],
|
| 322 |
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"success": 0.0,
|
| 323 |
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"return": 0.0,
|
| 324 |
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|
| 325 |
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"noop_fallbacks": 0
|
| 326 |
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}
|
| 327 |
+
],
|
| 328 |
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"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
| 334 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_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
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.json
ADDED
|
@@ -0,0 +1,333 @@
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| 1 |
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| 2 |
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"chosen_macro_mode": "widen_opening",
|
| 282 |
+
"planner_scores": [
|
| 283 |
+
13.184292793273926,
|
| 284 |
+
5.88827657699585,
|
| 285 |
+
11.637954711914062,
|
| 286 |
+
5.597484588623047
|
| 287 |
+
],
|
| 288 |
+
"predicted_reocclusion": 0.37797772884368896,
|
| 289 |
+
"support_mode_conditioning": true,
|
| 290 |
+
"path_recoveries": 0,
|
| 291 |
+
"noop_fallbacks": 0
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"timestep": 18,
|
| 295 |
+
"chosen_macro_mode": "widen_opening",
|
| 296 |
+
"planner_scores": [
|
| 297 |
+
13.184292793273926,
|
| 298 |
+
5.88827657699585,
|
| 299 |
+
11.637954711914062,
|
| 300 |
+
5.597484588623047
|
| 301 |
+
],
|
| 302 |
+
"predicted_reocclusion": 0.37797772884368896,
|
| 303 |
+
"support_mode_conditioning": true,
|
| 304 |
+
"path_recoveries": 0,
|
| 305 |
+
"noop_fallbacks": 0
|
| 306 |
+
},
|
| 307 |
+
{
|
| 308 |
+
"timestep": 19,
|
| 309 |
+
"chosen_macro_mode": "widen_opening",
|
| 310 |
+
"planner_scores": [
|
| 311 |
+
13.184292793273926,
|
| 312 |
+
5.88827657699585,
|
| 313 |
+
11.637954711914062,
|
| 314 |
+
5.597484588623047
|
| 315 |
+
],
|
| 316 |
+
"predicted_reocclusion": 0.37797772884368896,
|
| 317 |
+
"support_mode_conditioning": true,
|
| 318 |
+
"path_recoveries": 0,
|
| 319 |
+
"noop_fallbacks": 0
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `True`
|
| 5 |
+
- Plan applied: `True`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_handover_item_easy`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/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
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/stdout.txt
ADDED
|
@@ -0,0 +1,334 @@
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|
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|
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|
|
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|
|
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|
|
|
|
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|
|
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|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_handover_item_easy": {
|
| 21 |
+
"task_class": "BimanualHandoverItemEasy",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "bring me the item",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": "widen_opening",
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
13.970586776733398,
|
| 46 |
+
5.964934825897217,
|
| 47 |
+
11.782975196838379,
|
| 48 |
+
5.6842498779296875
|
| 49 |
+
],
|
| 50 |
+
"predicted_reocclusion": 0.3817215859889984,
|
| 51 |
+
"support_mode_conditioning": true,
|
| 52 |
+
"path_recoveries": 0,
|
| 53 |
+
"noop_fallbacks": 0
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"timestep": 1,
|
| 57 |
+
"chosen_macro_mode": "widen_opening",
|
| 58 |
+
"planner_scores": [
|
| 59 |
+
13.970586776733398,
|
| 60 |
+
5.964934825897217,
|
| 61 |
+
11.782975196838379,
|
| 62 |
+
5.6842498779296875
|
| 63 |
+
],
|
| 64 |
+
"predicted_reocclusion": 0.3817215859889984,
|
| 65 |
+
"support_mode_conditioning": true,
|
| 66 |
+
"path_recoveries": 0,
|
| 67 |
+
"noop_fallbacks": 0
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"timestep": 2,
|
| 71 |
+
"chosen_macro_mode": "widen_opening",
|
| 72 |
+
"planner_scores": [
|
| 73 |
+
13.970586776733398,
|
| 74 |
+
5.964934825897217,
|
| 75 |
+
11.782975196838379,
|
| 76 |
+
5.6842498779296875
|
| 77 |
+
],
|
| 78 |
+
"predicted_reocclusion": 0.3817215859889984,
|
| 79 |
+
"support_mode_conditioning": true,
|
| 80 |
+
"path_recoveries": 0,
|
| 81 |
+
"noop_fallbacks": 0
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"timestep": 3,
|
| 85 |
+
"chosen_macro_mode": "widen_opening",
|
| 86 |
+
"planner_scores": [
|
| 87 |
+
13.970586776733398,
|
| 88 |
+
5.964934825897217,
|
| 89 |
+
11.782975196838379,
|
| 90 |
+
5.6842498779296875
|
| 91 |
+
],
|
| 92 |
+
"predicted_reocclusion": 0.3817215859889984,
|
| 93 |
+
"support_mode_conditioning": true,
|
| 94 |
+
"path_recoveries": 0,
|
| 95 |
+
"noop_fallbacks": 0
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"timestep": 4,
|
| 99 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 100 |
+
"planner_scores": [
|
| 101 |
+
11.6579008102417,
|
| 102 |
+
6.36833381652832,
|
| 103 |
+
5.988085746765137,
|
| 104 |
+
12.077606201171875
|
| 105 |
+
],
|
| 106 |
+
"predicted_reocclusion": 0.3903457522392273,
|
| 107 |
+
"support_mode_conditioning": true,
|
| 108 |
+
"path_recoveries": 0,
|
| 109 |
+
"noop_fallbacks": 0
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"timestep": 5,
|
| 113 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 114 |
+
"planner_scores": [
|
| 115 |
+
11.6579008102417,
|
| 116 |
+
6.36833381652832,
|
| 117 |
+
5.988085746765137,
|
| 118 |
+
12.077606201171875
|
| 119 |
+
],
|
| 120 |
+
"predicted_reocclusion": 0.3903457522392273,
|
| 121 |
+
"support_mode_conditioning": true,
|
| 122 |
+
"path_recoveries": 0,
|
| 123 |
+
"noop_fallbacks": 0
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"timestep": 6,
|
| 127 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 128 |
+
"planner_scores": [
|
| 129 |
+
11.6579008102417,
|
| 130 |
+
6.36833381652832,
|
| 131 |
+
5.988085746765137,
|
| 132 |
+
12.077606201171875
|
| 133 |
+
],
|
| 134 |
+
"predicted_reocclusion": 0.3903457522392273,
|
| 135 |
+
"support_mode_conditioning": true,
|
| 136 |
+
"path_recoveries": 0,
|
| 137 |
+
"noop_fallbacks": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"timestep": 7,
|
| 141 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 142 |
+
"planner_scores": [
|
| 143 |
+
11.6579008102417,
|
| 144 |
+
6.36833381652832,
|
| 145 |
+
5.988085746765137,
|
| 146 |
+
12.077606201171875
|
| 147 |
+
],
|
| 148 |
+
"predicted_reocclusion": 0.3903457522392273,
|
| 149 |
+
"support_mode_conditioning": true,
|
| 150 |
+
"path_recoveries": 0,
|
| 151 |
+
"noop_fallbacks": 0
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"timestep": 8,
|
| 155 |
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| 156 |
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| 180 |
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| 181 |
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| 182 |
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|
| 183 |
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| 184 |
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| 195 |
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| 208 |
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| 279 |
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|
| 281 |
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| 282 |
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| 285 |
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| 286 |
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|
| 287 |
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| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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{
|
| 294 |
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"timestep": 18,
|
| 295 |
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|
| 296 |
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| 300 |
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|
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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{
|
| 308 |
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"timestep": 19,
|
| 309 |
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|
| 310 |
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"planner_scores": [
|
| 311 |
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|
| 312 |
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|
| 313 |
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|
| 314 |
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|
| 315 |
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],
|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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}
|
| 321 |
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],
|
| 322 |
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"success": 0.0,
|
| 323 |
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|
| 324 |
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|
| 325 |
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|
| 326 |
+
}
|
| 327 |
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],
|
| 328 |
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"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
| 334 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_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
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/rollout_eval.json
ADDED
|
@@ -0,0 +1,333 @@
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|
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|
|
|
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|
|
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|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
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|
|
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|
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|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_pick_laptop": {
|
| 21 |
+
"task_class": "BimanualPickLaptop",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "pick up the laptop",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": "widen_opening",
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
14.0537109375,
|
| 46 |
+
6.042049407958984,
|
| 47 |
+
11.852113723754883,
|
| 48 |
+
5.760868549346924
|
| 49 |
+
],
|
| 50 |
+
"predicted_reocclusion": 0.3825225830078125,
|
| 51 |
+
"support_mode_conditioning": true,
|
| 52 |
+
"path_recoveries": 0,
|
| 53 |
+
"noop_fallbacks": 0
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
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},
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| 69 |
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{
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| 70 |
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{
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| 86 |
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{
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{
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],
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| 124 |
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},
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| 125 |
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{
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| 126 |
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"timestep": 6,
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| 128 |
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| 129 |
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| 138 |
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},
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| 139 |
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{
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| 142 |
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| 147 |
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],
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| 150 |
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| 151 |
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| 152 |
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},
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| 153 |
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{
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| 154 |
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| 155 |
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| 156 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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},
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| 167 |
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{
|
| 168 |
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"timestep": 9,
|
| 169 |
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| 170 |
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"planner_scores": [
|
| 171 |
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14.07696533203125,
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| 172 |
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],
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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{
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| 182 |
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"timestep": 10,
|
| 183 |
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| 184 |
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| 194 |
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| 195 |
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{
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| 196 |
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"timestep": 11,
|
| 197 |
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| 198 |
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| 199 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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},
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| 209 |
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{
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| 210 |
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|
| 211 |
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| 212 |
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| 213 |
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| 220 |
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|
| 221 |
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|
| 222 |
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},
|
| 223 |
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{
|
| 224 |
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"timestep": 13,
|
| 225 |
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|
| 226 |
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| 227 |
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| 232 |
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|
| 233 |
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|
| 234 |
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| 235 |
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|
| 236 |
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},
|
| 237 |
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{
|
| 238 |
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"timestep": 14,
|
| 239 |
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|
| 240 |
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|
| 241 |
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| 247 |
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|
| 248 |
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| 249 |
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|
| 250 |
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},
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| 251 |
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{
|
| 252 |
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"timestep": 15,
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| 253 |
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| 254 |
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| 261 |
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| 263 |
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| 264 |
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| 265 |
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{
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| 266 |
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| 267 |
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],
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| 275 |
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| 276 |
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| 277 |
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|
| 278 |
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},
|
| 279 |
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{
|
| 280 |
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|
| 281 |
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| 282 |
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| 283 |
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| 285 |
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| 286 |
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],
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| 288 |
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| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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},
|
| 293 |
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{
|
| 294 |
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|
| 295 |
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|
| 296 |
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|
| 297 |
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| 298 |
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| 299 |
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| 300 |
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|
| 301 |
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],
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| 302 |
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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},
|
| 307 |
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{
|
| 308 |
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"timestep": 19,
|
| 309 |
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"chosen_macro_mode": "widen_opening",
|
| 310 |
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"planner_scores": [
|
| 311 |
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13.476143836975098,
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| 312 |
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5.987239837646484,
|
| 313 |
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|
| 314 |
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|
| 315 |
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],
|
| 316 |
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"predicted_reocclusion": 0.3799327611923218,
|
| 317 |
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|
| 318 |
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|
| 319 |
+
"noop_fallbacks": 0
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
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|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `True`
|
| 5 |
+
- Plan applied: `True`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_pick_laptop`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/stderr.txt
ADDED
|
@@ -0,0 +1,8 @@
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|
| 1 |
+
/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
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
| 5 |
+
WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '')
|
| 6 |
+
ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')).
|
| 7 |
+
WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
|
| 8 |
+
ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/stdout.txt
ADDED
|
@@ -0,0 +1,334 @@
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| 1 |
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| 2 |
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| 35 |
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"timestep": 19,
|
| 309 |
+
"chosen_macro_mode": "widen_opening",
|
| 310 |
+
"planner_scores": [
|
| 311 |
+
13.476143836975098,
|
| 312 |
+
5.987239837646484,
|
| 313 |
+
11.74880599975586,
|
| 314 |
+
5.698702812194824
|
| 315 |
+
],
|
| 316 |
+
"predicted_reocclusion": 0.3799327611923218,
|
| 317 |
+
"support_mode_conditioning": true,
|
| 318 |
+
"path_recoveries": 0,
|
| 319 |
+
"noop_fallbacks": 0
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
| 334 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_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
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.json
ADDED
|
@@ -0,0 +1,333 @@
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_put_bottle_in_fridge": {
|
| 21 |
+
"task_class": "BimanualPutBottleInFridge",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "put bottle in fridge",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
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"chosen_macro_mode": "widen_opening",
|
| 44 |
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|
| 45 |
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| 46 |
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| 48 |
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| 49 |
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],
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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},
|
| 55 |
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{
|
| 56 |
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|
| 57 |
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| 58 |
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],
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| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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|
| 72 |
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|
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|
| 80 |
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|
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|
| 83 |
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|
| 84 |
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|
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|
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|
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
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|
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|
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|
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|
| 139 |
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{
|
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|
| 141 |
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|
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|
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|
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|
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|
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|
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|
| 167 |
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{
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|
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|
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{
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|
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+
"noop_fallbacks": 0
|
| 208 |
+
},
|
| 209 |
+
{
|
| 210 |
+
"timestep": 12,
|
| 211 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 212 |
+
"planner_scores": [
|
| 213 |
+
10.886326789855957,
|
| 214 |
+
6.140202522277832,
|
| 215 |
+
5.77911901473999,
|
| 216 |
+
12.11752986907959
|
| 217 |
+
],
|
| 218 |
+
"predicted_reocclusion": 0.3881509006023407,
|
| 219 |
+
"support_mode_conditioning": true,
|
| 220 |
+
"path_recoveries": 0,
|
| 221 |
+
"noop_fallbacks": 0
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"timestep": 13,
|
| 225 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 226 |
+
"planner_scores": [
|
| 227 |
+
10.886326789855957,
|
| 228 |
+
6.140202522277832,
|
| 229 |
+
5.77911901473999,
|
| 230 |
+
12.11752986907959
|
| 231 |
+
],
|
| 232 |
+
"predicted_reocclusion": 0.3881509006023407,
|
| 233 |
+
"support_mode_conditioning": true,
|
| 234 |
+
"path_recoveries": 0,
|
| 235 |
+
"noop_fallbacks": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"timestep": 14,
|
| 239 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 240 |
+
"planner_scores": [
|
| 241 |
+
10.886326789855957,
|
| 242 |
+
6.140202522277832,
|
| 243 |
+
5.77911901473999,
|
| 244 |
+
12.11752986907959
|
| 245 |
+
],
|
| 246 |
+
"predicted_reocclusion": 0.3881509006023407,
|
| 247 |
+
"support_mode_conditioning": true,
|
| 248 |
+
"path_recoveries": 0,
|
| 249 |
+
"noop_fallbacks": 0
|
| 250 |
+
},
|
| 251 |
+
{
|
| 252 |
+
"timestep": 15,
|
| 253 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 254 |
+
"planner_scores": [
|
| 255 |
+
10.886326789855957,
|
| 256 |
+
6.140202522277832,
|
| 257 |
+
5.77911901473999,
|
| 258 |
+
12.11752986907959
|
| 259 |
+
],
|
| 260 |
+
"predicted_reocclusion": 0.3881509006023407,
|
| 261 |
+
"support_mode_conditioning": true,
|
| 262 |
+
"path_recoveries": 0,
|
| 263 |
+
"noop_fallbacks": 0
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"timestep": 16,
|
| 267 |
+
"chosen_macro_mode": "widen_opening",
|
| 268 |
+
"planner_scores": [
|
| 269 |
+
13.237479209899902,
|
| 270 |
+
5.80584192276001,
|
| 271 |
+
11.609903335571289,
|
| 272 |
+
5.513796329498291
|
| 273 |
+
],
|
| 274 |
+
"predicted_reocclusion": 0.3775847852230072,
|
| 275 |
+
"support_mode_conditioning": true,
|
| 276 |
+
"path_recoveries": 0,
|
| 277 |
+
"noop_fallbacks": 0
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"timestep": 17,
|
| 281 |
+
"chosen_macro_mode": "widen_opening",
|
| 282 |
+
"planner_scores": [
|
| 283 |
+
13.237479209899902,
|
| 284 |
+
5.80584192276001,
|
| 285 |
+
11.609903335571289,
|
| 286 |
+
5.513796329498291
|
| 287 |
+
],
|
| 288 |
+
"predicted_reocclusion": 0.3775847852230072,
|
| 289 |
+
"support_mode_conditioning": true,
|
| 290 |
+
"path_recoveries": 0,
|
| 291 |
+
"noop_fallbacks": 0
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"timestep": 18,
|
| 295 |
+
"chosen_macro_mode": "widen_opening",
|
| 296 |
+
"planner_scores": [
|
| 297 |
+
13.237479209899902,
|
| 298 |
+
5.80584192276001,
|
| 299 |
+
11.609903335571289,
|
| 300 |
+
5.513796329498291
|
| 301 |
+
],
|
| 302 |
+
"predicted_reocclusion": 0.3775847852230072,
|
| 303 |
+
"support_mode_conditioning": true,
|
| 304 |
+
"path_recoveries": 0,
|
| 305 |
+
"noop_fallbacks": 0
|
| 306 |
+
},
|
| 307 |
+
{
|
| 308 |
+
"timestep": 19,
|
| 309 |
+
"chosen_macro_mode": "widen_opening",
|
| 310 |
+
"planner_scores": [
|
| 311 |
+
13.237479209899902,
|
| 312 |
+
5.80584192276001,
|
| 313 |
+
11.609903335571289,
|
| 314 |
+
5.513796329498291
|
| 315 |
+
],
|
| 316 |
+
"predicted_reocclusion": 0.3775847852230072,
|
| 317 |
+
"support_mode_conditioning": true,
|
| 318 |
+
"path_recoveries": 0,
|
| 319 |
+
"noop_fallbacks": 0
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `True`
|
| 5 |
+
- Plan applied: `True`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_put_bottle_in_fridge`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/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
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/stdout.txt
ADDED
|
@@ -0,0 +1,335 @@
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|
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|
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|
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|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[ 0.05 -0.27500001 0.75199997]
|
| 2 |
+
{
|
| 3 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 4 |
+
"plan_requested": true,
|
| 5 |
+
"plan_applied": true,
|
| 6 |
+
"planner_mode": "trainable",
|
| 7 |
+
"support_mode_conditioning": true,
|
| 8 |
+
"task_conditioning": true,
|
| 9 |
+
"geometry_enabled": true,
|
| 10 |
+
"world_model_mode": "checkpoint_default",
|
| 11 |
+
"episodes_per_task": 1,
|
| 12 |
+
"episode_length": 20,
|
| 13 |
+
"resolution": 224,
|
| 14 |
+
"reset_retries": 20,
|
| 15 |
+
"cameras": [
|
| 16 |
+
"front",
|
| 17 |
+
"wrist_left",
|
| 18 |
+
"wrist_right"
|
| 19 |
+
],
|
| 20 |
+
"tasks": {
|
| 21 |
+
"bimanual_put_bottle_in_fridge": {
|
| 22 |
+
"task_class": "BimanualPutBottleInFridge",
|
| 23 |
+
"successes": [
|
| 24 |
+
0.0
|
| 25 |
+
],
|
| 26 |
+
"returns": [
|
| 27 |
+
0.0
|
| 28 |
+
],
|
| 29 |
+
"path_recoveries": [
|
| 30 |
+
0
|
| 31 |
+
],
|
| 32 |
+
"noop_fallbacks": [
|
| 33 |
+
0
|
| 34 |
+
],
|
| 35 |
+
"reset_retries": [
|
| 36 |
+
0
|
| 37 |
+
],
|
| 38 |
+
"episode_traces": [
|
| 39 |
+
{
|
| 40 |
+
"language_goal": "put bottle in fridge",
|
| 41 |
+
"steps": [
|
| 42 |
+
{
|
| 43 |
+
"timestep": 0,
|
| 44 |
+
"chosen_macro_mode": "widen_opening",
|
| 45 |
+
"planner_scores": [
|
| 46 |
+
14.09709644317627,
|
| 47 |
+
5.925654888153076,
|
| 48 |
+
11.865160942077637,
|
| 49 |
+
5.650742053985596
|
| 50 |
+
],
|
| 51 |
+
"predicted_reocclusion": 0.3810689449310303,
|
| 52 |
+
"support_mode_conditioning": true,
|
| 53 |
+
"path_recoveries": 0,
|
| 54 |
+
"noop_fallbacks": 0
|
| 55 |
+
},
|
| 56 |
+
{
|
| 57 |
+
"timestep": 1,
|
| 58 |
+
"chosen_macro_mode": "widen_opening",
|
| 59 |
+
"planner_scores": [
|
| 60 |
+
14.09709644317627,
|
| 61 |
+
5.925654888153076,
|
| 62 |
+
11.865160942077637,
|
| 63 |
+
5.650742053985596
|
| 64 |
+
],
|
| 65 |
+
"predicted_reocclusion": 0.3810689449310303,
|
| 66 |
+
"support_mode_conditioning": true,
|
| 67 |
+
"path_recoveries": 0,
|
| 68 |
+
"noop_fallbacks": 0
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"timestep": 2,
|
| 72 |
+
"chosen_macro_mode": "widen_opening",
|
| 73 |
+
"planner_scores": [
|
| 74 |
+
14.09709644317627,
|
| 75 |
+
5.925654888153076,
|
| 76 |
+
11.865160942077637,
|
| 77 |
+
5.650742053985596
|
| 78 |
+
],
|
| 79 |
+
"predicted_reocclusion": 0.3810689449310303,
|
| 80 |
+
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| 293 |
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| 294 |
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|
| 307 |
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|
| 308 |
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{
|
| 309 |
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|
| 310 |
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|
| 311 |
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|
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|
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|
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|
| 319 |
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|
| 320 |
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|
| 321 |
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|
| 322 |
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],
|
| 323 |
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"success": 0.0,
|
| 324 |
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"return": 0.0,
|
| 325 |
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|
| 326 |
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|
| 327 |
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}
|
| 328 |
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],
|
| 329 |
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"mean_success": 0.0,
|
| 330 |
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"mean_return": 0.0
|
| 331 |
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}
|
| 332 |
+
},
|
| 333 |
+
"mean_success": 0.0
|
| 334 |
+
}
|
| 335 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
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|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_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
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.json
ADDED
|
@@ -0,0 +1,333 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_put_item_in_drawer": {
|
| 21 |
+
"task_class": "BimanualPutItemInDrawer",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "put the item in the bottom drawer",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": "widen_opening",
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
14.025218963623047,
|
| 46 |
+
6.000443458557129,
|
| 47 |
+
11.812177658081055,
|
| 48 |
+
5.719684600830078
|
| 49 |
+
],
|
| 50 |
+
"predicted_reocclusion": 0.382251501083374,
|
| 51 |
+
"support_mode_conditioning": true,
|
| 52 |
+
"path_recoveries": 0,
|
| 53 |
+
"noop_fallbacks": 0
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"timestep": 1,
|
| 57 |
+
"chosen_macro_mode": "widen_opening",
|
| 58 |
+
"planner_scores": [
|
| 59 |
+
14.025218963623047,
|
| 60 |
+
6.000443458557129,
|
| 61 |
+
11.812177658081055,
|
| 62 |
+
5.719684600830078
|
| 63 |
+
],
|
| 64 |
+
"predicted_reocclusion": 0.382251501083374,
|
| 65 |
+
"support_mode_conditioning": true,
|
| 66 |
+
"path_recoveries": 0,
|
| 67 |
+
"noop_fallbacks": 0
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"timestep": 2,
|
| 71 |
+
"chosen_macro_mode": "widen_opening",
|
| 72 |
+
"planner_scores": [
|
| 73 |
+
14.025218963623047,
|
| 74 |
+
6.000443458557129,
|
| 75 |
+
11.812177658081055,
|
| 76 |
+
5.719684600830078
|
| 77 |
+
],
|
| 78 |
+
"predicted_reocclusion": 0.382251501083374,
|
| 79 |
+
"support_mode_conditioning": true,
|
| 80 |
+
"path_recoveries": 0,
|
| 81 |
+
"noop_fallbacks": 0
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"timestep": 3,
|
| 85 |
+
"chosen_macro_mode": "widen_opening",
|
| 86 |
+
"planner_scores": [
|
| 87 |
+
14.025218963623047,
|
| 88 |
+
6.000443458557129,
|
| 89 |
+
11.812177658081055,
|
| 90 |
+
5.719684600830078
|
| 91 |
+
],
|
| 92 |
+
"predicted_reocclusion": 0.382251501083374,
|
| 93 |
+
"support_mode_conditioning": true,
|
| 94 |
+
"path_recoveries": 0,
|
| 95 |
+
"noop_fallbacks": 0
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"timestep": 4,
|
| 99 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 100 |
+
"planner_scores": [
|
| 101 |
+
11.70076847076416,
|
| 102 |
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6.389079570770264,
|
| 103 |
+
6.0074615478515625,
|
| 104 |
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12.12783145904541
|
| 105 |
+
],
|
| 106 |
+
"predicted_reocclusion": 0.3900434970855713,
|
| 107 |
+
"support_mode_conditioning": true,
|
| 108 |
+
"path_recoveries": 0,
|
| 109 |
+
"noop_fallbacks": 0
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"timestep": 5,
|
| 113 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 114 |
+
"planner_scores": [
|
| 115 |
+
11.70076847076416,
|
| 116 |
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6.389079570770264,
|
| 117 |
+
6.0074615478515625,
|
| 118 |
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12.12783145904541
|
| 119 |
+
],
|
| 120 |
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"predicted_reocclusion": 0.3900434970855713,
|
| 121 |
+
"support_mode_conditioning": true,
|
| 122 |
+
"path_recoveries": 0,
|
| 123 |
+
"noop_fallbacks": 0
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"timestep": 6,
|
| 127 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 128 |
+
"planner_scores": [
|
| 129 |
+
11.70076847076416,
|
| 130 |
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6.389079570770264,
|
| 131 |
+
6.0074615478515625,
|
| 132 |
+
12.12783145904541
|
| 133 |
+
],
|
| 134 |
+
"predicted_reocclusion": 0.3900434970855713,
|
| 135 |
+
"support_mode_conditioning": true,
|
| 136 |
+
"path_recoveries": 0,
|
| 137 |
+
"noop_fallbacks": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"timestep": 7,
|
| 141 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 142 |
+
"planner_scores": [
|
| 143 |
+
11.70076847076416,
|
| 144 |
+
6.389079570770264,
|
| 145 |
+
6.0074615478515625,
|
| 146 |
+
12.12783145904541
|
| 147 |
+
],
|
| 148 |
+
"predicted_reocclusion": 0.3900434970855713,
|
| 149 |
+
"support_mode_conditioning": true,
|
| 150 |
+
"path_recoveries": 0,
|
| 151 |
+
"noop_fallbacks": 0
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"timestep": 8,
|
| 155 |
+
"chosen_macro_mode": "widen_opening",
|
| 156 |
+
"planner_scores": [
|
| 157 |
+
13.875787734985352,
|
| 158 |
+
5.967217445373535,
|
| 159 |
+
11.788883209228516,
|
| 160 |
+
5.688523769378662
|
| 161 |
+
],
|
| 162 |
+
"predicted_reocclusion": 0.3815034031867981,
|
| 163 |
+
"support_mode_conditioning": true,
|
| 164 |
+
"path_recoveries": 0,
|
| 165 |
+
"noop_fallbacks": 0
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"timestep": 9,
|
| 169 |
+
"chosen_macro_mode": "widen_opening",
|
| 170 |
+
"planner_scores": [
|
| 171 |
+
13.875787734985352,
|
| 172 |
+
5.967217445373535,
|
| 173 |
+
11.788883209228516,
|
| 174 |
+
5.688523769378662
|
| 175 |
+
],
|
| 176 |
+
"predicted_reocclusion": 0.3815034031867981,
|
| 177 |
+
"support_mode_conditioning": true,
|
| 178 |
+
"path_recoveries": 0,
|
| 179 |
+
"noop_fallbacks": 0
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"timestep": 10,
|
| 183 |
+
"chosen_macro_mode": "widen_opening",
|
| 184 |
+
"planner_scores": [
|
| 185 |
+
13.875787734985352,
|
| 186 |
+
5.967217445373535,
|
| 187 |
+
11.788883209228516,
|
| 188 |
+
5.688523769378662
|
| 189 |
+
],
|
| 190 |
+
"predicted_reocclusion": 0.3815034031867981,
|
| 191 |
+
"support_mode_conditioning": true,
|
| 192 |
+
"path_recoveries": 0,
|
| 193 |
+
"noop_fallbacks": 0
|
| 194 |
+
},
|
| 195 |
+
{
|
| 196 |
+
"timestep": 11,
|
| 197 |
+
"chosen_macro_mode": "widen_opening",
|
| 198 |
+
"planner_scores": [
|
| 199 |
+
13.875787734985352,
|
| 200 |
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5.967217445373535,
|
| 201 |
+
11.788883209228516,
|
| 202 |
+
5.688523769378662
|
| 203 |
+
],
|
| 204 |
+
"predicted_reocclusion": 0.3815034031867981,
|
| 205 |
+
"support_mode_conditioning": true,
|
| 206 |
+
"path_recoveries": 0,
|
| 207 |
+
"noop_fallbacks": 0
|
| 208 |
+
},
|
| 209 |
+
{
|
| 210 |
+
"timestep": 12,
|
| 211 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 212 |
+
"planner_scores": [
|
| 213 |
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11.382401466369629,
|
| 214 |
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6.20745325088501,
|
| 215 |
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5.833916187286377,
|
| 216 |
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12.117984771728516
|
| 217 |
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],
|
| 218 |
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"predicted_reocclusion": 0.389631062746048,
|
| 219 |
+
"support_mode_conditioning": true,
|
| 220 |
+
"path_recoveries": 0,
|
| 221 |
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"noop_fallbacks": 0
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"timestep": 13,
|
| 225 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 226 |
+
"planner_scores": [
|
| 227 |
+
11.382401466369629,
|
| 228 |
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6.20745325088501,
|
| 229 |
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5.833916187286377,
|
| 230 |
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12.117984771728516
|
| 231 |
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],
|
| 232 |
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"predicted_reocclusion": 0.389631062746048,
|
| 233 |
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"support_mode_conditioning": true,
|
| 234 |
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"path_recoveries": 0,
|
| 235 |
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"noop_fallbacks": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"timestep": 14,
|
| 239 |
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"chosen_macro_mode": "lift_support_layer",
|
| 240 |
+
"planner_scores": [
|
| 241 |
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|
| 242 |
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6.20745325088501,
|
| 243 |
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|
| 244 |
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12.117984771728516
|
| 245 |
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],
|
| 246 |
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"predicted_reocclusion": 0.389631062746048,
|
| 247 |
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"support_mode_conditioning": true,
|
| 248 |
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"path_recoveries": 0,
|
| 249 |
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"noop_fallbacks": 0
|
| 250 |
+
},
|
| 251 |
+
{
|
| 252 |
+
"timestep": 15,
|
| 253 |
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"chosen_macro_mode": "lift_support_layer",
|
| 254 |
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"planner_scores": [
|
| 255 |
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|
| 256 |
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6.20745325088501,
|
| 257 |
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5.833916187286377,
|
| 258 |
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12.117984771728516
|
| 259 |
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],
|
| 260 |
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"predicted_reocclusion": 0.389631062746048,
|
| 261 |
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"support_mode_conditioning": true,
|
| 262 |
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"path_recoveries": 0,
|
| 263 |
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"noop_fallbacks": 0
|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"timestep": 16,
|
| 267 |
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"chosen_macro_mode": "widen_opening",
|
| 268 |
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"planner_scores": [
|
| 269 |
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13.137346267700195,
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| 270 |
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5.938095569610596,
|
| 271 |
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11.654315948486328,
|
| 272 |
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5.644083499908447
|
| 273 |
+
],
|
| 274 |
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"predicted_reocclusion": 0.37871772050857544,
|
| 275 |
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"support_mode_conditioning": true,
|
| 276 |
+
"path_recoveries": 0,
|
| 277 |
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"noop_fallbacks": 0
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"timestep": 17,
|
| 281 |
+
"chosen_macro_mode": "widen_opening",
|
| 282 |
+
"planner_scores": [
|
| 283 |
+
13.137346267700195,
|
| 284 |
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5.938095569610596,
|
| 285 |
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11.654315948486328,
|
| 286 |
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5.644083499908447
|
| 287 |
+
],
|
| 288 |
+
"predicted_reocclusion": 0.37871772050857544,
|
| 289 |
+
"support_mode_conditioning": true,
|
| 290 |
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"path_recoveries": 0,
|
| 291 |
+
"noop_fallbacks": 0
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"timestep": 18,
|
| 295 |
+
"chosen_macro_mode": "widen_opening",
|
| 296 |
+
"planner_scores": [
|
| 297 |
+
13.137346267700195,
|
| 298 |
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5.938095569610596,
|
| 299 |
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11.654315948486328,
|
| 300 |
+
5.644083499908447
|
| 301 |
+
],
|
| 302 |
+
"predicted_reocclusion": 0.37871772050857544,
|
| 303 |
+
"support_mode_conditioning": true,
|
| 304 |
+
"path_recoveries": 0,
|
| 305 |
+
"noop_fallbacks": 0
|
| 306 |
+
},
|
| 307 |
+
{
|
| 308 |
+
"timestep": 19,
|
| 309 |
+
"chosen_macro_mode": "widen_opening",
|
| 310 |
+
"planner_scores": [
|
| 311 |
+
13.137346267700195,
|
| 312 |
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5.938095569610596,
|
| 313 |
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11.654315948486328,
|
| 314 |
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5.644083499908447
|
| 315 |
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],
|
| 316 |
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"predicted_reocclusion": 0.37871772050857544,
|
| 317 |
+
"support_mode_conditioning": true,
|
| 318 |
+
"path_recoveries": 0,
|
| 319 |
+
"noop_fallbacks": 0
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `True`
|
| 5 |
+
- Plan applied: `True`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_put_item_in_drawer`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/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
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/stdout.txt
ADDED
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|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_put_item_in_drawer": {
|
| 21 |
+
"task_class": "BimanualPutItemInDrawer",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
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"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
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"path_recoveries": [
|
| 29 |
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0
|
| 30 |
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],
|
| 31 |
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"noop_fallbacks": [
|
| 32 |
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0
|
| 33 |
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],
|
| 34 |
+
"reset_retries": [
|
| 35 |
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0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "put the item in the bottom drawer",
|
| 40 |
+
"steps": [
|
| 41 |
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{
|
| 42 |
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"timestep": 0,
|
| 43 |
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"chosen_macro_mode": "widen_opening",
|
| 44 |
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| 45 |
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| 46 |
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| 47 |
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| 48 |
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| 49 |
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],
|
| 50 |
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"predicted_reocclusion": 0.382251501083374,
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| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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},
|
| 55 |
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{
|
| 56 |
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|
| 57 |
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| 58 |
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| 59 |
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| 60 |
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| 61 |
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| 63 |
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|
| 66 |
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| 67 |
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|
| 68 |
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|
| 69 |
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{
|
| 70 |
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|
| 71 |
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| 72 |
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| 73 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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{
|
| 84 |
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|
| 85 |
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| 86 |
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| 87 |
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 111 |
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| 112 |
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| 114 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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|
| 127 |
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| 128 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 152 |
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| 153 |
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| 246 |
+
"predicted_reocclusion": 0.389631062746048,
|
| 247 |
+
"support_mode_conditioning": true,
|
| 248 |
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"path_recoveries": 0,
|
| 249 |
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"noop_fallbacks": 0
|
| 250 |
+
},
|
| 251 |
+
{
|
| 252 |
+
"timestep": 15,
|
| 253 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 254 |
+
"planner_scores": [
|
| 255 |
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|
| 256 |
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|
| 257 |
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|
| 258 |
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|
| 259 |
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],
|
| 260 |
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"predicted_reocclusion": 0.389631062746048,
|
| 261 |
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|
| 262 |
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|
| 263 |
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|
| 264 |
+
},
|
| 265 |
+
{
|
| 266 |
+
"timestep": 16,
|
| 267 |
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"chosen_macro_mode": "widen_opening",
|
| 268 |
+
"planner_scores": [
|
| 269 |
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|
| 270 |
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|
| 271 |
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|
| 272 |
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5.644083499908447
|
| 273 |
+
],
|
| 274 |
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"predicted_reocclusion": 0.37871772050857544,
|
| 275 |
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"support_mode_conditioning": true,
|
| 276 |
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"path_recoveries": 0,
|
| 277 |
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"noop_fallbacks": 0
|
| 278 |
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},
|
| 279 |
+
{
|
| 280 |
+
"timestep": 17,
|
| 281 |
+
"chosen_macro_mode": "widen_opening",
|
| 282 |
+
"planner_scores": [
|
| 283 |
+
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|
| 284 |
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5.938095569610596,
|
| 285 |
+
11.654315948486328,
|
| 286 |
+
5.644083499908447
|
| 287 |
+
],
|
| 288 |
+
"predicted_reocclusion": 0.37871772050857544,
|
| 289 |
+
"support_mode_conditioning": true,
|
| 290 |
+
"path_recoveries": 0,
|
| 291 |
+
"noop_fallbacks": 0
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"timestep": 18,
|
| 295 |
+
"chosen_macro_mode": "widen_opening",
|
| 296 |
+
"planner_scores": [
|
| 297 |
+
13.137346267700195,
|
| 298 |
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5.938095569610596,
|
| 299 |
+
11.654315948486328,
|
| 300 |
+
5.644083499908447
|
| 301 |
+
],
|
| 302 |
+
"predicted_reocclusion": 0.37871772050857544,
|
| 303 |
+
"support_mode_conditioning": true,
|
| 304 |
+
"path_recoveries": 0,
|
| 305 |
+
"noop_fallbacks": 0
|
| 306 |
+
},
|
| 307 |
+
{
|
| 308 |
+
"timestep": 19,
|
| 309 |
+
"chosen_macro_mode": "widen_opening",
|
| 310 |
+
"planner_scores": [
|
| 311 |
+
13.137346267700195,
|
| 312 |
+
5.938095569610596,
|
| 313 |
+
11.654315948486328,
|
| 314 |
+
5.644083499908447
|
| 315 |
+
],
|
| 316 |
+
"predicted_reocclusion": 0.37871772050857544,
|
| 317 |
+
"support_mode_conditioning": true,
|
| 318 |
+
"path_recoveries": 0,
|
| 319 |
+
"noop_fallbacks": 0
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
| 334 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_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
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/rollout_eval.json
ADDED
|
@@ -0,0 +1,333 @@
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_straighten_rope": {
|
| 21 |
+
"task_class": "BimanualStraightenRope",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "straighten rope",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": "widen_opening",
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
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|
| 46 |
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|
| 47 |
+
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|
| 48 |
+
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|
| 49 |
+
],
|
| 50 |
+
"predicted_reocclusion": 0.3798917829990387,
|
| 51 |
+
"support_mode_conditioning": true,
|
| 52 |
+
"path_recoveries": 0,
|
| 53 |
+
"noop_fallbacks": 0
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"timestep": 1,
|
| 57 |
+
"chosen_macro_mode": "widen_opening",
|
| 58 |
+
"planner_scores": [
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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"predicted_reocclusion": 0.3798917829990387,
|
| 65 |
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"support_mode_conditioning": true,
|
| 66 |
+
"path_recoveries": 0,
|
| 67 |
+
"noop_fallbacks": 0
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"timestep": 2,
|
| 71 |
+
"chosen_macro_mode": "widen_opening",
|
| 72 |
+
"planner_scores": [
|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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],
|
| 78 |
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"predicted_reocclusion": 0.3798917829990387,
|
| 79 |
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"support_mode_conditioning": true,
|
| 80 |
+
"path_recoveries": 0,
|
| 81 |
+
"noop_fallbacks": 0
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"timestep": 3,
|
| 85 |
+
"chosen_macro_mode": "widen_opening",
|
| 86 |
+
"planner_scores": [
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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],
|
| 92 |
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"predicted_reocclusion": 0.3798917829990387,
|
| 93 |
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"support_mode_conditioning": true,
|
| 94 |
+
"path_recoveries": 0,
|
| 95 |
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"noop_fallbacks": 0
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"timestep": 4,
|
| 99 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 100 |
+
"planner_scores": [
|
| 101 |
+
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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],
|
| 106 |
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"predicted_reocclusion": 0.39243757724761963,
|
| 107 |
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"support_mode_conditioning": true,
|
| 108 |
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|
| 109 |
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"noop_fallbacks": 0
|
| 110 |
+
},
|
| 111 |
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{
|
| 112 |
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"timestep": 5,
|
| 113 |
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"chosen_macro_mode": "lift_support_layer",
|
| 114 |
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"planner_scores": [
|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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],
|
| 120 |
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"predicted_reocclusion": 0.39243757724761963,
|
| 121 |
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"support_mode_conditioning": true,
|
| 122 |
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|
| 123 |
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"noop_fallbacks": 0
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"timestep": 6,
|
| 127 |
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"chosen_macro_mode": "lift_support_layer",
|
| 128 |
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"planner_scores": [
|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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],
|
| 134 |
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"predicted_reocclusion": 0.39243757724761963,
|
| 135 |
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"support_mode_conditioning": true,
|
| 136 |
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"path_recoveries": 0,
|
| 137 |
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"noop_fallbacks": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"timestep": 7,
|
| 141 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 142 |
+
"planner_scores": [
|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
+
],
|
| 148 |
+
"predicted_reocclusion": 0.39243757724761963,
|
| 149 |
+
"support_mode_conditioning": true,
|
| 150 |
+
"path_recoveries": 0,
|
| 151 |
+
"noop_fallbacks": 0
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"timestep": 8,
|
| 155 |
+
"chosen_macro_mode": "widen_opening",
|
| 156 |
+
"planner_scores": [
|
| 157 |
+
13.439936637878418,
|
| 158 |
+
5.709724426269531,
|
| 159 |
+
11.589483261108398,
|
| 160 |
+
5.4258713722229
|
| 161 |
+
],
|
| 162 |
+
"predicted_reocclusion": 0.3788076937198639,
|
| 163 |
+
"support_mode_conditioning": true,
|
| 164 |
+
"path_recoveries": 0,
|
| 165 |
+
"noop_fallbacks": 0
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"timestep": 9,
|
| 169 |
+
"chosen_macro_mode": "widen_opening",
|
| 170 |
+
"planner_scores": [
|
| 171 |
+
13.439936637878418,
|
| 172 |
+
5.709724426269531,
|
| 173 |
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11.589483261108398,
|
| 174 |
+
5.4258713722229
|
| 175 |
+
],
|
| 176 |
+
"predicted_reocclusion": 0.3788076937198639,
|
| 177 |
+
"support_mode_conditioning": true,
|
| 178 |
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"path_recoveries": 0,
|
| 179 |
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"noop_fallbacks": 0
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"timestep": 10,
|
| 183 |
+
"chosen_macro_mode": "widen_opening",
|
| 184 |
+
"planner_scores": [
|
| 185 |
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13.439936637878418,
|
| 186 |
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5.709724426269531,
|
| 187 |
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11.589483261108398,
|
| 188 |
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5.4258713722229
|
| 189 |
+
],
|
| 190 |
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"predicted_reocclusion": 0.3788076937198639,
|
| 191 |
+
"support_mode_conditioning": true,
|
| 192 |
+
"path_recoveries": 0,
|
| 193 |
+
"noop_fallbacks": 0
|
| 194 |
+
},
|
| 195 |
+
{
|
| 196 |
+
"timestep": 11,
|
| 197 |
+
"chosen_macro_mode": "widen_opening",
|
| 198 |
+
"planner_scores": [
|
| 199 |
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13.439936637878418,
|
| 200 |
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5.709724426269531,
|
| 201 |
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11.589483261108398,
|
| 202 |
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5.4258713722229
|
| 203 |
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],
|
| 204 |
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"predicted_reocclusion": 0.3788076937198639,
|
| 205 |
+
"support_mode_conditioning": true,
|
| 206 |
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"path_recoveries": 0,
|
| 207 |
+
"noop_fallbacks": 0
|
| 208 |
+
},
|
| 209 |
+
{
|
| 210 |
+
"timestep": 12,
|
| 211 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 212 |
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"planner_scores": [
|
| 213 |
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11.279595375061035,
|
| 214 |
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6.054841995239258,
|
| 215 |
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5.678375244140625,
|
| 216 |
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12.099005699157715
|
| 217 |
+
],
|
| 218 |
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"predicted_reocclusion": 0.3893745243549347,
|
| 219 |
+
"support_mode_conditioning": true,
|
| 220 |
+
"path_recoveries": 0,
|
| 221 |
+
"noop_fallbacks": 0
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"timestep": 13,
|
| 225 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 226 |
+
"planner_scores": [
|
| 227 |
+
11.279595375061035,
|
| 228 |
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6.054841995239258,
|
| 229 |
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5.678375244140625,
|
| 230 |
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12.099005699157715
|
| 231 |
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],
|
| 232 |
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"predicted_reocclusion": 0.3893745243549347,
|
| 233 |
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"support_mode_conditioning": true,
|
| 234 |
+
"path_recoveries": 0,
|
| 235 |
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"noop_fallbacks": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"timestep": 14,
|
| 239 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 240 |
+
"planner_scores": [
|
| 241 |
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11.279595375061035,
|
| 242 |
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6.054841995239258,
|
| 243 |
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5.678375244140625,
|
| 244 |
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12.099005699157715
|
| 245 |
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],
|
| 246 |
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"predicted_reocclusion": 0.3893745243549347,
|
| 247 |
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"support_mode_conditioning": true,
|
| 248 |
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"path_recoveries": 0,
|
| 249 |
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"noop_fallbacks": 0
|
| 250 |
+
},
|
| 251 |
+
{
|
| 252 |
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"timestep": 15,
|
| 253 |
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"chosen_macro_mode": "lift_support_layer",
|
| 254 |
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"planner_scores": [
|
| 255 |
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11.279595375061035,
|
| 256 |
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6.054841995239258,
|
| 257 |
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5.678375244140625,
|
| 258 |
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12.099005699157715
|
| 259 |
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],
|
| 260 |
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"predicted_reocclusion": 0.3893745243549347,
|
| 261 |
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"support_mode_conditioning": true,
|
| 262 |
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"path_recoveries": 0,
|
| 263 |
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"noop_fallbacks": 0
|
| 264 |
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},
|
| 265 |
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{
|
| 266 |
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"timestep": 16,
|
| 267 |
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"chosen_macro_mode": "widen_opening",
|
| 268 |
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"planner_scores": [
|
| 269 |
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12.545841217041016,
|
| 270 |
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5.691144943237305,
|
| 271 |
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11.526495933532715,
|
| 272 |
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5.396435737609863
|
| 273 |
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],
|
| 274 |
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"predicted_reocclusion": 0.3753328323364258,
|
| 275 |
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"support_mode_conditioning": true,
|
| 276 |
+
"path_recoveries": 0,
|
| 277 |
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"noop_fallbacks": 0
|
| 278 |
+
},
|
| 279 |
+
{
|
| 280 |
+
"timestep": 17,
|
| 281 |
+
"chosen_macro_mode": "widen_opening",
|
| 282 |
+
"planner_scores": [
|
| 283 |
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12.545841217041016,
|
| 284 |
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5.691144943237305,
|
| 285 |
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11.526495933532715,
|
| 286 |
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5.396435737609863
|
| 287 |
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],
|
| 288 |
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"predicted_reocclusion": 0.3753328323364258,
|
| 289 |
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"support_mode_conditioning": true,
|
| 290 |
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"path_recoveries": 0,
|
| 291 |
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"noop_fallbacks": 0
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"timestep": 18,
|
| 295 |
+
"chosen_macro_mode": "widen_opening",
|
| 296 |
+
"planner_scores": [
|
| 297 |
+
12.545841217041016,
|
| 298 |
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5.691144943237305,
|
| 299 |
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11.526495933532715,
|
| 300 |
+
5.396435737609863
|
| 301 |
+
],
|
| 302 |
+
"predicted_reocclusion": 0.3753328323364258,
|
| 303 |
+
"support_mode_conditioning": true,
|
| 304 |
+
"path_recoveries": 0,
|
| 305 |
+
"noop_fallbacks": 0
|
| 306 |
+
},
|
| 307 |
+
{
|
| 308 |
+
"timestep": 19,
|
| 309 |
+
"chosen_macro_mode": "widen_opening",
|
| 310 |
+
"planner_scores": [
|
| 311 |
+
12.545841217041016,
|
| 312 |
+
5.691144943237305,
|
| 313 |
+
11.526495933532715,
|
| 314 |
+
5.396435737609863
|
| 315 |
+
],
|
| 316 |
+
"predicted_reocclusion": 0.3753328323364258,
|
| 317 |
+
"support_mode_conditioning": true,
|
| 318 |
+
"path_recoveries": 0,
|
| 319 |
+
"noop_fallbacks": 0
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `True`
|
| 5 |
+
- Plan applied: `True`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_straighten_rope`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
| 1 |
+
/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
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/stdout.txt
ADDED
|
@@ -0,0 +1,334 @@
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
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| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 26 |
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| 27 |
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| 29 |
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0
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| 30 |
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| 32 |
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0
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| 33 |
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| 35 |
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0
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| 36 |
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| 39 |
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| 40 |
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{
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{
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{
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{
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|
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],
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|
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|
| 290 |
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|
| 291 |
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|
| 292 |
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},
|
| 293 |
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{
|
| 294 |
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|
| 295 |
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|
| 296 |
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|
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|
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|
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|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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{
|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
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|
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|
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|
| 316 |
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|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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}
|
| 321 |
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],
|
| 322 |
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"success": 0.0,
|
| 323 |
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"return": 0.0,
|
| 324 |
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|
| 325 |
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|
| 326 |
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}
|
| 327 |
+
],
|
| 328 |
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"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
| 334 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_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
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.json
ADDED
|
@@ -0,0 +1,333 @@
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| 1 |
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| 315 |
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],
|
| 316 |
+
"predicted_reocclusion": 0.3794674873352051,
|
| 317 |
+
"support_mode_conditioning": true,
|
| 318 |
+
"path_recoveries": 0,
|
| 319 |
+
"noop_fallbacks": 0
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
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|
|
|
|
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|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `True`
|
| 5 |
+
- Plan applied: `True`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_sweep_to_dustpan`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
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|
|
|
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|
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|
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|
|
|
| 1 |
+
/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
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/stdout.txt
ADDED
|
@@ -0,0 +1,334 @@
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_sweep_to_dustpan": {
|
| 21 |
+
"task_class": "BimanualSweepToDustpan",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "sweep dirt to dustpan",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": "widen_opening",
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
14.018957138061523,
|
| 46 |
+
5.87012243270874,
|
| 47 |
+
11.783513069152832,
|
| 48 |
+
5.594449520111084
|
| 49 |
+
],
|
| 50 |
+
"predicted_reocclusion": 0.3810321092605591,
|
| 51 |
+
"support_mode_conditioning": true,
|
| 52 |
+
"path_recoveries": 0,
|
| 53 |
+
"noop_fallbacks": 0
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"timestep": 1,
|
| 57 |
+
"chosen_macro_mode": "widen_opening",
|
| 58 |
+
"planner_scores": [
|
| 59 |
+
14.018957138061523,
|
| 60 |
+
5.87012243270874,
|
| 61 |
+
11.783513069152832,
|
| 62 |
+
5.594449520111084
|
| 63 |
+
],
|
| 64 |
+
"predicted_reocclusion": 0.3810321092605591,
|
| 65 |
+
"support_mode_conditioning": true,
|
| 66 |
+
"path_recoveries": 0,
|
| 67 |
+
"noop_fallbacks": 0
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"timestep": 2,
|
| 71 |
+
"chosen_macro_mode": "widen_opening",
|
| 72 |
+
"planner_scores": [
|
| 73 |
+
14.018957138061523,
|
| 74 |
+
5.87012243270874,
|
| 75 |
+
11.783513069152832,
|
| 76 |
+
5.594449520111084
|
| 77 |
+
],
|
| 78 |
+
"predicted_reocclusion": 0.3810321092605591,
|
| 79 |
+
"support_mode_conditioning": true,
|
| 80 |
+
"path_recoveries": 0,
|
| 81 |
+
"noop_fallbacks": 0
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"timestep": 3,
|
| 85 |
+
"chosen_macro_mode": "widen_opening",
|
| 86 |
+
"planner_scores": [
|
| 87 |
+
14.018957138061523,
|
| 88 |
+
5.87012243270874,
|
| 89 |
+
11.783513069152832,
|
| 90 |
+
5.594449520111084
|
| 91 |
+
],
|
| 92 |
+
"predicted_reocclusion": 0.3810321092605591,
|
| 93 |
+
"support_mode_conditioning": true,
|
| 94 |
+
"path_recoveries": 0,
|
| 95 |
+
"noop_fallbacks": 0
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"timestep": 4,
|
| 99 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 100 |
+
"planner_scores": [
|
| 101 |
+
11.487765312194824,
|
| 102 |
+
6.232867240905762,
|
| 103 |
+
5.853690147399902,
|
| 104 |
+
12.096497535705566
|
| 105 |
+
],
|
| 106 |
+
"predicted_reocclusion": 0.38957154750823975,
|
| 107 |
+
"support_mode_conditioning": true,
|
| 108 |
+
"path_recoveries": 0,
|
| 109 |
+
"noop_fallbacks": 0
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"timestep": 5,
|
| 113 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 114 |
+
"planner_scores": [
|
| 115 |
+
11.487765312194824,
|
| 116 |
+
6.232867240905762,
|
| 117 |
+
5.853690147399902,
|
| 118 |
+
12.096497535705566
|
| 119 |
+
],
|
| 120 |
+
"predicted_reocclusion": 0.38957154750823975,
|
| 121 |
+
"support_mode_conditioning": true,
|
| 122 |
+
"path_recoveries": 0,
|
| 123 |
+
"noop_fallbacks": 0
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"timestep": 6,
|
| 127 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 128 |
+
"planner_scores": [
|
| 129 |
+
11.487765312194824,
|
| 130 |
+
6.232867240905762,
|
| 131 |
+
5.853690147399902,
|
| 132 |
+
12.096497535705566
|
| 133 |
+
],
|
| 134 |
+
"predicted_reocclusion": 0.38957154750823975,
|
| 135 |
+
"support_mode_conditioning": true,
|
| 136 |
+
"path_recoveries": 0,
|
| 137 |
+
"noop_fallbacks": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"timestep": 7,
|
| 141 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 142 |
+
"planner_scores": [
|
| 143 |
+
11.487765312194824,
|
| 144 |
+
6.232867240905762,
|
| 145 |
+
5.853690147399902,
|
| 146 |
+
12.096497535705566
|
| 147 |
+
],
|
| 148 |
+
"predicted_reocclusion": 0.38957154750823975,
|
| 149 |
+
"support_mode_conditioning": true,
|
| 150 |
+
"path_recoveries": 0,
|
| 151 |
+
"noop_fallbacks": 0
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"timestep": 8,
|
| 155 |
+
"chosen_macro_mode": "widen_opening",
|
| 156 |
+
"planner_scores": [
|
| 157 |
+
14.058934211730957,
|
| 158 |
+
5.836539268493652,
|
| 159 |
+
11.828792572021484,
|
| 160 |
+
5.570562839508057
|
| 161 |
+
],
|
| 162 |
+
"predicted_reocclusion": 0.3808514475822449,
|
| 163 |
+
"support_mode_conditioning": true,
|
| 164 |
+
"path_recoveries": 0,
|
| 165 |
+
"noop_fallbacks": 0
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"timestep": 9,
|
| 169 |
+
"chosen_macro_mode": "widen_opening",
|
| 170 |
+
"planner_scores": [
|
| 171 |
+
14.058934211730957,
|
| 172 |
+
5.836539268493652,
|
| 173 |
+
11.828792572021484,
|
| 174 |
+
5.570562839508057
|
| 175 |
+
],
|
| 176 |
+
"predicted_reocclusion": 0.3808514475822449,
|
| 177 |
+
"support_mode_conditioning": true,
|
| 178 |
+
"path_recoveries": 0,
|
| 179 |
+
"noop_fallbacks": 0
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"timestep": 10,
|
| 183 |
+
"chosen_macro_mode": "widen_opening",
|
| 184 |
+
"planner_scores": [
|
| 185 |
+
14.058934211730957,
|
| 186 |
+
5.836539268493652,
|
| 187 |
+
11.828792572021484,
|
| 188 |
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| 189 |
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| 194 |
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| 195 |
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| 196 |
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|
| 197 |
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| 198 |
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| 199 |
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| 207 |
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| 208 |
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|
| 209 |
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| 210 |
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|
| 211 |
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| 212 |
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| 222 |
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| 223 |
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| 224 |
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| 236 |
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| 237 |
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| 278 |
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| 279 |
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| 280 |
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|
| 281 |
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| 282 |
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|
| 285 |
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|
| 286 |
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|
| 287 |
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],
|
| 288 |
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|
| 289 |
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|
| 290 |
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|
| 291 |
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|
| 292 |
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},
|
| 293 |
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{
|
| 294 |
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"timestep": 18,
|
| 295 |
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|
| 296 |
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"planner_scores": [
|
| 297 |
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|
| 298 |
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|
| 299 |
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|
| 300 |
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|
| 301 |
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],
|
| 302 |
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"predicted_reocclusion": 0.3794674873352051,
|
| 303 |
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|
| 304 |
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|
| 305 |
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|
| 306 |
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},
|
| 307 |
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{
|
| 308 |
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"timestep": 19,
|
| 309 |
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"chosen_macro_mode": "widen_opening",
|
| 310 |
+
"planner_scores": [
|
| 311 |
+
13.587077140808105,
|
| 312 |
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5.798512935638428,
|
| 313 |
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11.665790557861328,
|
| 314 |
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5.515981674194336
|
| 315 |
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],
|
| 316 |
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"predicted_reocclusion": 0.3794674873352051,
|
| 317 |
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|
| 318 |
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|
| 319 |
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|
| 320 |
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}
|
| 321 |
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],
|
| 322 |
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"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
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|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
| 334 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_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
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json
ADDED
|
@@ -0,0 +1,333 @@
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|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_take_tray_out_of_oven": {
|
| 21 |
+
"task_class": "BimanualTakeTrayOutOfOven",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "take tray out of oven",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": "widen_opening",
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
13.929573059082031,
|
| 46 |
+
5.987537860870361,
|
| 47 |
+
11.814209938049316,
|
| 48 |
+
5.6998982429504395
|
| 49 |
+
],
|
| 50 |
+
"predicted_reocclusion": 0.38179412484169006,
|
| 51 |
+
"support_mode_conditioning": true,
|
| 52 |
+
"path_recoveries": 0,
|
| 53 |
+
"noop_fallbacks": 0
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"timestep": 1,
|
| 57 |
+
"chosen_macro_mode": "widen_opening",
|
| 58 |
+
"planner_scores": [
|
| 59 |
+
13.929573059082031,
|
| 60 |
+
5.987537860870361,
|
| 61 |
+
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|
| 62 |
+
5.6998982429504395
|
| 63 |
+
],
|
| 64 |
+
"predicted_reocclusion": 0.38179412484169006,
|
| 65 |
+
"support_mode_conditioning": true,
|
| 66 |
+
"path_recoveries": 0,
|
| 67 |
+
"noop_fallbacks": 0
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"timestep": 2,
|
| 71 |
+
"chosen_macro_mode": "widen_opening",
|
| 72 |
+
"planner_scores": [
|
| 73 |
+
13.929573059082031,
|
| 74 |
+
5.987537860870361,
|
| 75 |
+
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|
| 76 |
+
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|
| 77 |
+
],
|
| 78 |
+
"predicted_reocclusion": 0.38179412484169006,
|
| 79 |
+
"support_mode_conditioning": true,
|
| 80 |
+
"path_recoveries": 0,
|
| 81 |
+
"noop_fallbacks": 0
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"timestep": 3,
|
| 85 |
+
"chosen_macro_mode": "widen_opening",
|
| 86 |
+
"planner_scores": [
|
| 87 |
+
13.929573059082031,
|
| 88 |
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5.987537860870361,
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],
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| 94 |
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| 95 |
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| 96 |
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},
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| 97 |
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{
|
| 98 |
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"timestep": 4,
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| 99 |
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| 100 |
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"planner_scores": [
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12.204901695251465
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],
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"predicted_reocclusion": 0.3899141550064087,
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| 108 |
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| 109 |
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"noop_fallbacks": 0
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| 110 |
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},
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| 111 |
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{
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| 112 |
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"timestep": 5,
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| 113 |
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| 114 |
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"planner_scores": [
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],
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"predicted_reocclusion": 0.3899141550064087,
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"support_mode_conditioning": true,
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| 122 |
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| 123 |
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"noop_fallbacks": 0
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| 124 |
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},
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| 125 |
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{
|
| 126 |
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"timestep": 6,
|
| 127 |
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| 128 |
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"planner_scores": [
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| 129 |
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| 133 |
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],
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| 134 |
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"predicted_reocclusion": 0.3899141550064087,
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| 135 |
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"support_mode_conditioning": true,
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| 136 |
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"path_recoveries": 0,
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| 137 |
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"noop_fallbacks": 0
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| 138 |
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},
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| 139 |
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{
|
| 140 |
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"timestep": 7,
|
| 141 |
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| 142 |
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"planner_scores": [
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| 143 |
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| 145 |
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6.039690017700195,
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| 146 |
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12.204901695251465
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| 147 |
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],
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| 148 |
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"predicted_reocclusion": 0.3899141550064087,
|
| 149 |
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"support_mode_conditioning": true,
|
| 150 |
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"path_recoveries": 0,
|
| 151 |
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"noop_fallbacks": 0
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| 152 |
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},
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| 153 |
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{
|
| 154 |
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"timestep": 8,
|
| 155 |
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"chosen_macro_mode": "widen_opening",
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| 156 |
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"planner_scores": [
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| 157 |
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13.767111778259277,
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| 159 |
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11.774386405944824,
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| 160 |
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5.646655559539795
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| 161 |
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],
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| 162 |
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"predicted_reocclusion": 0.38106483221054077,
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| 163 |
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"support_mode_conditioning": true,
|
| 164 |
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"path_recoveries": 0,
|
| 165 |
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"noop_fallbacks": 0
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| 166 |
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},
|
| 167 |
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{
|
| 168 |
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"timestep": 9,
|
| 169 |
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"chosen_macro_mode": "widen_opening",
|
| 170 |
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"planner_scores": [
|
| 171 |
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13.767111778259277,
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| 172 |
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| 173 |
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11.774386405944824,
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| 174 |
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| 175 |
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],
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| 176 |
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"predicted_reocclusion": 0.38106483221054077,
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| 177 |
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"support_mode_conditioning": true,
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| 178 |
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"path_recoveries": 0,
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| 179 |
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| 180 |
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},
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| 181 |
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{
|
| 182 |
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"timestep": 10,
|
| 183 |
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| 184 |
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"planner_scores": [
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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],
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"predicted_reocclusion": 0.38106483221054077,
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| 191 |
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| 192 |
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| 193 |
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|
| 194 |
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},
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| 195 |
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{
|
| 196 |
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"timestep": 11,
|
| 197 |
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"chosen_macro_mode": "widen_opening",
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| 198 |
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"planner_scores": [
|
| 199 |
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13.767111778259277,
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| 200 |
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],
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| 204 |
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"predicted_reocclusion": 0.38106483221054077,
|
| 205 |
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"support_mode_conditioning": true,
|
| 206 |
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|
| 207 |
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|
| 208 |
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},
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| 209 |
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{
|
| 210 |
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"timestep": 12,
|
| 211 |
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"chosen_macro_mode": "lift_support_layer",
|
| 212 |
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"planner_scores": [
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| 213 |
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12.179230690002441
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"predicted_reocclusion": 0.38981467485427856,
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| 219 |
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"support_mode_conditioning": true,
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| 220 |
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|
| 221 |
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"noop_fallbacks": 0
|
| 222 |
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},
|
| 223 |
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{
|
| 224 |
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"timestep": 13,
|
| 225 |
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"chosen_macro_mode": "lift_support_layer",
|
| 226 |
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"planner_scores": [
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| 227 |
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| 231 |
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],
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| 232 |
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"predicted_reocclusion": 0.38981467485427856,
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| 233 |
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| 234 |
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| 235 |
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|
| 236 |
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},
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| 237 |
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{
|
| 238 |
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"timestep": 14,
|
| 239 |
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|
| 240 |
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"planner_scores": [
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| 241 |
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| 247 |
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| 248 |
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| 249 |
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| 250 |
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},
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| 251 |
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{
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| 252 |
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"timestep": 15,
|
| 253 |
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| 254 |
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| 263 |
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|
| 264 |
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},
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| 265 |
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{
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| 266 |
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|
| 267 |
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| 268 |
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| 273 |
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],
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| 275 |
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| 276 |
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| 277 |
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|
| 278 |
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},
|
| 279 |
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{
|
| 280 |
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"timestep": 17,
|
| 281 |
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| 282 |
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| 283 |
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| 284 |
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| 285 |
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| 286 |
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| 287 |
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],
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| 288 |
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| 289 |
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|
| 290 |
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| 291 |
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|
| 292 |
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},
|
| 293 |
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{
|
| 294 |
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"timestep": 18,
|
| 295 |
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|
| 296 |
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|
| 297 |
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| 298 |
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| 300 |
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| 301 |
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],
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| 302 |
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|
| 303 |
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|
| 304 |
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| 305 |
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|
| 306 |
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},
|
| 307 |
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{
|
| 308 |
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"timestep": 19,
|
| 309 |
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"chosen_macro_mode": "widen_opening",
|
| 310 |
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"planner_scores": [
|
| 311 |
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12.876973152160645,
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| 312 |
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|
| 313 |
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| 314 |
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| 315 |
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],
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| 316 |
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"predicted_reocclusion": 0.37785547971725464,
|
| 317 |
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"support_mode_conditioning": true,
|
| 318 |
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|
| 319 |
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"noop_fallbacks": 0
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
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"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
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|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `True`
|
| 5 |
+
- Plan applied: `True`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_take_tray_out_of_oven`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/stderr.txt
ADDED
|
@@ -0,0 +1,6 @@
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|
| 1 |
+
/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
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
| 5 |
+
WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
|
| 6 |
+
ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/stdout.txt
ADDED
|
@@ -0,0 +1,334 @@
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| 1 |
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{
|
| 2 |
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| 3 |
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|
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|
| 334 |
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[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/rollout_eval.json
ADDED
|
The diff for this file is too large to render.
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|
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/rollout_eval.md
ADDED
|
@@ -0,0 +1,31 @@
|
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|
| 1 |
+
# PerAct2 13-Task Rollout Sweep
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `True`
|
| 5 |
+
- Plan applied: `True`
|
| 6 |
+
- Episodes per task: `1`
|
| 7 |
+
- Episode length: `20`
|
| 8 |
+
- Resolution: `224`
|
| 9 |
+
- No planner: `False`
|
| 10 |
+
- Disable task conditioning: `False`
|
| 11 |
+
- No geometry: `False`
|
| 12 |
+
- Compact world model: `False`
|
| 13 |
+
- Task count: `13`
|
| 14 |
+
- Error tasks: `[]`
|
| 15 |
+
- Mean success: `0.000`
|
| 16 |
+
|
| 17 |
+
## Per-task
|
| 18 |
+
|
| 19 |
+
- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 20 |
+
- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 21 |
+
- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 22 |
+
- `bimanual_pick_plate`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 23 |
+
- `bimanual_put_item_in_drawer`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 24 |
+
- `bimanual_put_bottle_in_fridge`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 25 |
+
- `bimanual_handover_item`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 26 |
+
- `bimanual_pick_laptop`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 27 |
+
- `bimanual_straighten_rope`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 28 |
+
- `bimanual_sweep_to_dustpan`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 29 |
+
- `bimanual_lift_tray`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 30 |
+
- `bimanual_handover_item_easy`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
| 31 |
+
- `bimanual_take_tray_out_of_oven`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
|
artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_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 --no-geometry
|
artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/rollout_eval.json
ADDED
|
@@ -0,0 +1,333 @@
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
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|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": false,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_push_box": {
|
| 21 |
+
"task_class": "BimanualPushBox",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "push the box to the red area",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": "widen_opening",
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
13.937088012695312,
|
| 46 |
+
5.9257659912109375,
|
| 47 |
+
11.745388984680176,
|
| 48 |
+
5.6424713134765625
|
| 49 |
+
],
|
| 50 |
+
"predicted_reocclusion": 0.38209134340286255,
|
| 51 |
+
"support_mode_conditioning": true,
|
| 52 |
+
"path_recoveries": 0,
|
| 53 |
+
"noop_fallbacks": 0
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"timestep": 1,
|
| 57 |
+
"chosen_macro_mode": "widen_opening",
|
| 58 |
+
"planner_scores": [
|
| 59 |
+
13.937088012695312,
|
| 60 |
+
5.9257659912109375,
|
| 61 |
+
11.745388984680176,
|
| 62 |
+
5.6424713134765625
|
| 63 |
+
],
|
| 64 |
+
"predicted_reocclusion": 0.38209134340286255,
|
| 65 |
+
"support_mode_conditioning": true,
|
| 66 |
+
"path_recoveries": 0,
|
| 67 |
+
"noop_fallbacks": 0
|
| 68 |
+
},
|
| 69 |
+
{
|
| 70 |
+
"timestep": 2,
|
| 71 |
+
"chosen_macro_mode": "widen_opening",
|
| 72 |
+
"planner_scores": [
|
| 73 |
+
13.937088012695312,
|
| 74 |
+
5.9257659912109375,
|
| 75 |
+
11.745388984680176,
|
| 76 |
+
5.6424713134765625
|
| 77 |
+
],
|
| 78 |
+
"predicted_reocclusion": 0.38209134340286255,
|
| 79 |
+
"support_mode_conditioning": true,
|
| 80 |
+
"path_recoveries": 0,
|
| 81 |
+
"noop_fallbacks": 0
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"timestep": 3,
|
| 85 |
+
"chosen_macro_mode": "widen_opening",
|
| 86 |
+
"planner_scores": [
|
| 87 |
+
13.937088012695312,
|
| 88 |
+
5.9257659912109375,
|
| 89 |
+
11.745388984680176,
|
| 90 |
+
5.6424713134765625
|
| 91 |
+
],
|
| 92 |
+
"predicted_reocclusion": 0.38209134340286255,
|
| 93 |
+
"support_mode_conditioning": true,
|
| 94 |
+
"path_recoveries": 0,
|
| 95 |
+
"noop_fallbacks": 0
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"timestep": 4,
|
| 99 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 100 |
+
"planner_scores": [
|
| 101 |
+
11.582372665405273,
|
| 102 |
+
6.214494705200195,
|
| 103 |
+
5.810072898864746,
|
| 104 |
+
12.089376449584961
|
| 105 |
+
],
|
| 106 |
+
"predicted_reocclusion": 0.3910957872867584,
|
| 107 |
+
"support_mode_conditioning": true,
|
| 108 |
+
"path_recoveries": 0,
|
| 109 |
+
"noop_fallbacks": 0
|
| 110 |
+
},
|
| 111 |
+
{
|
| 112 |
+
"timestep": 5,
|
| 113 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 114 |
+
"planner_scores": [
|
| 115 |
+
11.582372665405273,
|
| 116 |
+
6.214494705200195,
|
| 117 |
+
5.810072898864746,
|
| 118 |
+
12.089376449584961
|
| 119 |
+
],
|
| 120 |
+
"predicted_reocclusion": 0.3910957872867584,
|
| 121 |
+
"support_mode_conditioning": true,
|
| 122 |
+
"path_recoveries": 0,
|
| 123 |
+
"noop_fallbacks": 0
|
| 124 |
+
},
|
| 125 |
+
{
|
| 126 |
+
"timestep": 6,
|
| 127 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 128 |
+
"planner_scores": [
|
| 129 |
+
11.582372665405273,
|
| 130 |
+
6.214494705200195,
|
| 131 |
+
5.810072898864746,
|
| 132 |
+
12.089376449584961
|
| 133 |
+
],
|
| 134 |
+
"predicted_reocclusion": 0.3910957872867584,
|
| 135 |
+
"support_mode_conditioning": true,
|
| 136 |
+
"path_recoveries": 0,
|
| 137 |
+
"noop_fallbacks": 0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"timestep": 7,
|
| 141 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 142 |
+
"planner_scores": [
|
| 143 |
+
11.582372665405273,
|
| 144 |
+
6.214494705200195,
|
| 145 |
+
5.810072898864746,
|
| 146 |
+
12.089376449584961
|
| 147 |
+
],
|
| 148 |
+
"predicted_reocclusion": 0.3910957872867584,
|
| 149 |
+
"support_mode_conditioning": true,
|
| 150 |
+
"path_recoveries": 0,
|
| 151 |
+
"noop_fallbacks": 0
|
| 152 |
+
},
|
| 153 |
+
{
|
| 154 |
+
"timestep": 8,
|
| 155 |
+
"chosen_macro_mode": "widen_opening",
|
| 156 |
+
"planner_scores": [
|
| 157 |
+
13.763474464416504,
|
| 158 |
+
5.876178741455078,
|
| 159 |
+
11.699414253234863,
|
| 160 |
+
5.594299793243408
|
| 161 |
+
],
|
| 162 |
+
"predicted_reocclusion": 0.3811945617198944,
|
| 163 |
+
"support_mode_conditioning": true,
|
| 164 |
+
"path_recoveries": 0,
|
| 165 |
+
"noop_fallbacks": 0
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"timestep": 9,
|
| 169 |
+
"chosen_macro_mode": "widen_opening",
|
| 170 |
+
"planner_scores": [
|
| 171 |
+
13.763474464416504,
|
| 172 |
+
5.876178741455078,
|
| 173 |
+
11.699414253234863,
|
| 174 |
+
5.594299793243408
|
| 175 |
+
],
|
| 176 |
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"predicted_reocclusion": 0.3811945617198944,
|
| 177 |
+
"support_mode_conditioning": true,
|
| 178 |
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"path_recoveries": 0,
|
| 179 |
+
"noop_fallbacks": 0
|
| 180 |
+
},
|
| 181 |
+
{
|
| 182 |
+
"timestep": 10,
|
| 183 |
+
"chosen_macro_mode": "widen_opening",
|
| 184 |
+
"planner_scores": [
|
| 185 |
+
13.763474464416504,
|
| 186 |
+
5.876178741455078,
|
| 187 |
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11.699414253234863,
|
| 188 |
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5.594299793243408
|
| 189 |
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],
|
| 190 |
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"predicted_reocclusion": 0.3811945617198944,
|
| 191 |
+
"support_mode_conditioning": true,
|
| 192 |
+
"path_recoveries": 0,
|
| 193 |
+
"noop_fallbacks": 0
|
| 194 |
+
},
|
| 195 |
+
{
|
| 196 |
+
"timestep": 11,
|
| 197 |
+
"chosen_macro_mode": "widen_opening",
|
| 198 |
+
"planner_scores": [
|
| 199 |
+
13.763474464416504,
|
| 200 |
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5.876178741455078,
|
| 201 |
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11.699414253234863,
|
| 202 |
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5.594299793243408
|
| 203 |
+
],
|
| 204 |
+
"predicted_reocclusion": 0.3811945617198944,
|
| 205 |
+
"support_mode_conditioning": true,
|
| 206 |
+
"path_recoveries": 0,
|
| 207 |
+
"noop_fallbacks": 0
|
| 208 |
+
},
|
| 209 |
+
{
|
| 210 |
+
"timestep": 12,
|
| 211 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 212 |
+
"planner_scores": [
|
| 213 |
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11.471626281738281,
|
| 214 |
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6.198143005371094,
|
| 215 |
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5.81951379776001,
|
| 216 |
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12.16220760345459
|
| 217 |
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],
|
| 218 |
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"predicted_reocclusion": 0.3890568017959595,
|
| 219 |
+
"support_mode_conditioning": true,
|
| 220 |
+
"path_recoveries": 0,
|
| 221 |
+
"noop_fallbacks": 0
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"timestep": 13,
|
| 225 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 226 |
+
"planner_scores": [
|
| 227 |
+
11.471626281738281,
|
| 228 |
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6.198143005371094,
|
| 229 |
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5.81951379776001,
|
| 230 |
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12.16220760345459
|
| 231 |
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],
|
| 232 |
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"predicted_reocclusion": 0.3890568017959595,
|
| 233 |
+
"support_mode_conditioning": true,
|
| 234 |
+
"path_recoveries": 0,
|
| 235 |
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"noop_fallbacks": 0
|
| 236 |
+
},
|
| 237 |
+
{
|
| 238 |
+
"timestep": 14,
|
| 239 |
+
"chosen_macro_mode": "lift_support_layer",
|
| 240 |
+
"planner_scores": [
|
| 241 |
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|
| 242 |
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6.198143005371094,
|
| 243 |
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5.81951379776001,
|
| 244 |
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12.16220760345459
|
| 245 |
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],
|
| 246 |
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"predicted_reocclusion": 0.3890568017959595,
|
| 247 |
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"support_mode_conditioning": true,
|
| 248 |
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"path_recoveries": 0,
|
| 249 |
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"noop_fallbacks": 0
|
| 250 |
+
},
|
| 251 |
+
{
|
| 252 |
+
"timestep": 15,
|
| 253 |
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"chosen_macro_mode": "lift_support_layer",
|
| 254 |
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"planner_scores": [
|
| 255 |
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|
| 256 |
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6.198143005371094,
|
| 257 |
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5.81951379776001,
|
| 258 |
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|
| 259 |
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],
|
| 260 |
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"predicted_reocclusion": 0.3890568017959595,
|
| 261 |
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"support_mode_conditioning": true,
|
| 262 |
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"path_recoveries": 0,
|
| 263 |
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"noop_fallbacks": 0
|
| 264 |
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},
|
| 265 |
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{
|
| 266 |
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"timestep": 16,
|
| 267 |
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"chosen_macro_mode": "widen_opening",
|
| 268 |
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"planner_scores": [
|
| 269 |
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13.007949829101562,
|
| 270 |
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5.843700885772705,
|
| 271 |
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11.593058586120605,
|
| 272 |
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5.5489420890808105
|
| 273 |
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],
|
| 274 |
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"predicted_reocclusion": 0.3780692219734192,
|
| 275 |
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"support_mode_conditioning": true,
|
| 276 |
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"path_recoveries": 0,
|
| 277 |
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"noop_fallbacks": 0
|
| 278 |
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},
|
| 279 |
+
{
|
| 280 |
+
"timestep": 17,
|
| 281 |
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"chosen_macro_mode": "widen_opening",
|
| 282 |
+
"planner_scores": [
|
| 283 |
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13.007949829101562,
|
| 284 |
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5.843700885772705,
|
| 285 |
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11.593058586120605,
|
| 286 |
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5.5489420890808105
|
| 287 |
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],
|
| 288 |
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"predicted_reocclusion": 0.3780692219734192,
|
| 289 |
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"support_mode_conditioning": true,
|
| 290 |
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"path_recoveries": 0,
|
| 291 |
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"noop_fallbacks": 0
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"timestep": 18,
|
| 295 |
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"chosen_macro_mode": "widen_opening",
|
| 296 |
+
"planner_scores": [
|
| 297 |
+
13.007949829101562,
|
| 298 |
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5.843700885772705,
|
| 299 |
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11.593058586120605,
|
| 300 |
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5.5489420890808105
|
| 301 |
+
],
|
| 302 |
+
"predicted_reocclusion": 0.3780692219734192,
|
| 303 |
+
"support_mode_conditioning": true,
|
| 304 |
+
"path_recoveries": 0,
|
| 305 |
+
"noop_fallbacks": 0
|
| 306 |
+
},
|
| 307 |
+
{
|
| 308 |
+
"timestep": 19,
|
| 309 |
+
"chosen_macro_mode": "widen_opening",
|
| 310 |
+
"planner_scores": [
|
| 311 |
+
13.007949829101562,
|
| 312 |
+
5.843700885772705,
|
| 313 |
+
11.593058586120605,
|
| 314 |
+
5.5489420890808105
|
| 315 |
+
],
|
| 316 |
+
"predicted_reocclusion": 0.3780692219734192,
|
| 317 |
+
"support_mode_conditioning": true,
|
| 318 |
+
"path_recoveries": 0,
|
| 319 |
+
"noop_fallbacks": 0
|
| 320 |
+
}
|
| 321 |
+
],
|
| 322 |
+
"success": 0.0,
|
| 323 |
+
"return": 0.0,
|
| 324 |
+
"path_recoveries": 0,
|
| 325 |
+
"noop_fallbacks": 0
|
| 326 |
+
}
|
| 327 |
+
],
|
| 328 |
+
"mean_success": 0.0,
|
| 329 |
+
"mean_return": 0.0
|
| 330 |
+
}
|
| 331 |
+
},
|
| 332 |
+
"mean_success": 0.0
|
| 333 |
+
}
|
artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `True`
|
| 5 |
+
- Plan applied: `True`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `False`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_push_box`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
| 1 |
+
/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
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/stdout.txt
ADDED
|
@@ -0,0 +1,334 @@
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|
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|
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|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": true,
|
| 4 |
+
"plan_applied": true,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": false,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_push_box": {
|
| 21 |
+
"task_class": "BimanualPushBox",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "push the box to the red area",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": "widen_opening",
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
13.937088012695312,
|
| 46 |
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|
| 334 |
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[CoppeliaSim:loadinfo] done.
|
artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.json
ADDED
|
@@ -0,0 +1,1854 @@
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|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 100,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"arm_mode": "ik",
|
| 15 |
+
"cameras": [
|
| 16 |
+
"front",
|
| 17 |
+
"wrist_left",
|
| 18 |
+
"wrist_right"
|
| 19 |
+
],
|
| 20 |
+
"tasks": {
|
| 21 |
+
"bimanual_dual_push_buttons": {
|
| 22 |
+
"task_class": "BimanualDualPushButtons",
|
| 23 |
+
"successes": [
|
| 24 |
+
0.0
|
| 25 |
+
],
|
| 26 |
+
"returns": [
|
| 27 |
+
0.0
|
| 28 |
+
],
|
| 29 |
+
"path_recoveries": [
|
| 30 |
+
2
|
| 31 |
+
],
|
| 32 |
+
"noop_fallbacks": [
|
| 33 |
+
98
|
| 34 |
+
],
|
| 35 |
+
"reset_retries": [
|
| 36 |
+
0
|
| 37 |
+
],
|
| 38 |
+
"episode_traces": [
|
| 39 |
+
{
|
| 40 |
+
"language_goal": "push the olive and the orange buttons",
|
| 41 |
+
"steps": [
|
| 42 |
+
{
|
| 43 |
+
"timestep": 0,
|
| 44 |
+
"chosen_macro_mode": null,
|
| 45 |
+
"planner_scores": [
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0,
|
| 53 |
+
0.0
|
| 54 |
+
],
|
| 55 |
+
"predicted_reocclusion": null,
|
| 56 |
+
"support_mode_conditioning": true,
|
| 57 |
+
"path_recoveries": 1,
|
| 58 |
+
"noop_fallbacks": 0
|
| 59 |
+
},
|
| 60 |
+
{
|
| 61 |
+
"timestep": 1,
|
| 62 |
+
"chosen_macro_mode": null,
|
| 63 |
+
"planner_scores": [
|
| 64 |
+
0.0,
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0,
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.0,
|
| 71 |
+
0.0
|
| 72 |
+
],
|
| 73 |
+
"predicted_reocclusion": null,
|
| 74 |
+
"support_mode_conditioning": true,
|
| 75 |
+
"path_recoveries": 1,
|
| 76 |
+
"noop_fallbacks": 0
|
| 77 |
+
},
|
| 78 |
+
{
|
| 79 |
+
"timestep": 2,
|
| 80 |
+
"chosen_macro_mode": null,
|
| 81 |
+
"planner_scores": [
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
+
0.0,
|
| 85 |
+
0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
0.0,
|
| 88 |
+
0.0,
|
| 89 |
+
0.0
|
| 90 |
+
],
|
| 91 |
+
"predicted_reocclusion": null,
|
| 92 |
+
"support_mode_conditioning": true,
|
| 93 |
+
"path_recoveries": 0,
|
| 94 |
+
"noop_fallbacks": 1
|
| 95 |
+
},
|
| 96 |
+
{
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| 1833 |
+
0.0,
|
| 1834 |
+
0.0,
|
| 1835 |
+
0.0
|
| 1836 |
+
],
|
| 1837 |
+
"predicted_reocclusion": null,
|
| 1838 |
+
"support_mode_conditioning": true,
|
| 1839 |
+
"path_recoveries": 0,
|
| 1840 |
+
"noop_fallbacks": 1
|
| 1841 |
+
}
|
| 1842 |
+
],
|
| 1843 |
+
"success": 0.0,
|
| 1844 |
+
"return": 0.0,
|
| 1845 |
+
"path_recoveries": 2,
|
| 1846 |
+
"noop_fallbacks": 98
|
| 1847 |
+
}
|
| 1848 |
+
],
|
| 1849 |
+
"mean_success": 0.0,
|
| 1850 |
+
"mean_return": 0.0
|
| 1851 |
+
}
|
| 1852 |
+
},
|
| 1853 |
+
"mean_success": 0.0
|
| 1854 |
+
}
|
artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.partial.json
ADDED
|
@@ -0,0 +1,1854 @@
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