diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..e50e8a3d7e5a7ed23916400cb7dd1140323b53ab --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/command.txt @@ -0,0 +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 --tasks bimanual_handover_item --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..22343d5cd6438bb69863843eee3c4f5f65ef599d --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_handover_item": { + "task_class": "BimanualHandoverItem", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "bring me the red item", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.814186096191406, + 5.8763628005981445, + 11.700148582458496, + 5.595124244689941 + ], + "predicted_reocclusion": 0.38123729825019836, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.814186096191406, + 5.8763628005981445, + 11.700148582458496, + 5.595124244689941 + ], + "predicted_reocclusion": 0.38123729825019836, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.814186096191406, + 5.8763628005981445, + 11.700148582458496, + 5.595124244689941 + ], + "predicted_reocclusion": 0.38123729825019836, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.814186096191406, + 5.8763628005981445, + 11.700148582458496, + 5.595124244689941 + ], + "predicted_reocclusion": 0.38123729825019836, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.602302551269531, + 6.308506488800049, + 5.927552700042725, + 12.071534156799316 + ], + "predicted_reocclusion": 0.3900315463542938, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.602302551269531, + 6.308506488800049, + 5.927552700042725, + 12.071534156799316 + ], + "predicted_reocclusion": 0.3900315463542938, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.602302551269531, + 6.308506488800049, + 5.927552700042725, + 12.071534156799316 + ], + "predicted_reocclusion": 0.3900315463542938, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.602302551269531, + 6.308506488800049, + 5.927552700042725, + 12.071534156799316 + ], + "predicted_reocclusion": 0.3900315463542938, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.527048110961914, + 5.815503120422363, + 11.631821632385254, + 5.5334153175354 + ], + "predicted_reocclusion": 0.3796631693840027, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.527048110961914, + 5.815503120422363, + 11.631821632385254, + 5.5334153175354 + ], + "predicted_reocclusion": 0.3796631693840027, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.527048110961914, + 5.815503120422363, + 11.631821632385254, + 5.5334153175354 + ], + "predicted_reocclusion": 0.3796631693840027, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.527048110961914, + 5.815503120422363, + 11.631821632385254, + 5.5334153175354 + ], + "predicted_reocclusion": 0.3796631693840027, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.289007186889648, + 6.1040215492248535, + 5.7337236404418945, + 12.01603889465332 + ], + "predicted_reocclusion": 0.3898167610168457, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.289007186889648, + 6.1040215492248535, + 5.7337236404418945, + 12.01603889465332 + ], + "predicted_reocclusion": 0.3898167610168457, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.289007186889648, + 6.1040215492248535, + 5.7337236404418945, + 12.01603889465332 + ], + "predicted_reocclusion": 0.3898167610168457, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.289007186889648, + 6.1040215492248535, + 5.7337236404418945, + 12.01603889465332 + ], + "predicted_reocclusion": 0.3898167610168457, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.73471736907959, + 5.7906084060668945, + 11.548457145690918, + 5.4977240562438965 + ], + "predicted_reocclusion": 0.3766701817512512, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.73471736907959, + 5.7906084060668945, + 11.548457145690918, + 5.4977240562438965 + ], + "predicted_reocclusion": 0.3766701817512512, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.73471736907959, + 5.7906084060668945, + 11.548457145690918, + 5.4977240562438965 + ], + "predicted_reocclusion": 0.3766701817512512, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.73471736907959, + 5.7906084060668945, + 11.548457145690918, + 5.4977240562438965 + ], + "predicted_reocclusion": 0.3766701817512512, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6e1d1bb49c379b9f7a984f164e369900f2b3408c --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_handover_item`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..1930c09b405b6b191d558c5e61fb65d05e2ac562 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_handover_item": { + "task_class": "BimanualHandoverItem", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "bring me the red item", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.814186096191406, + 5.8763628005981445, + 11.700148582458496, + 5.595124244689941 + ], + "predicted_reocclusion": 0.38123729825019836, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.814186096191406, + 5.8763628005981445, + 11.700148582458496, + 5.595124244689941 + ], + "predicted_reocclusion": 0.38123729825019836, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.814186096191406, + 5.8763628005981445, + 11.700148582458496, + 5.595124244689941 + ], + "predicted_reocclusion": 0.38123729825019836, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.814186096191406, + 5.8763628005981445, + 11.700148582458496, + 5.595124244689941 + ], + "predicted_reocclusion": 0.38123729825019836, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.602302551269531, + 6.308506488800049, + 5.927552700042725, + 12.071534156799316 + ], + "predicted_reocclusion": 0.3900315463542938, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.602302551269531, + 6.308506488800049, + 5.927552700042725, + 12.071534156799316 + ], + "predicted_reocclusion": 0.3900315463542938, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.602302551269531, + 6.308506488800049, + 5.927552700042725, + 12.071534156799316 + ], + "predicted_reocclusion": 0.3900315463542938, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.602302551269531, + 6.308506488800049, + 5.927552700042725, + 12.071534156799316 + ], + "predicted_reocclusion": 0.3900315463542938, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.527048110961914, + 5.815503120422363, + 11.631821632385254, + 5.5334153175354 + ], + "predicted_reocclusion": 0.3796631693840027, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.527048110961914, + 5.815503120422363, + 11.631821632385254, + 5.5334153175354 + ], + "predicted_reocclusion": 0.3796631693840027, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.527048110961914, + 5.815503120422363, + 11.631821632385254, + 5.5334153175354 + ], + "predicted_reocclusion": 0.3796631693840027, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.527048110961914, + 5.815503120422363, + 11.631821632385254, + 5.5334153175354 + ], + "predicted_reocclusion": 0.3796631693840027, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.289007186889648, + 6.1040215492248535, + 5.7337236404418945, + 12.01603889465332 + ], + "predicted_reocclusion": 0.3898167610168457, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.289007186889648, + 6.1040215492248535, + 5.7337236404418945, + 12.01603889465332 + ], + "predicted_reocclusion": 0.3898167610168457, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.289007186889648, + 6.1040215492248535, + 5.7337236404418945, + 12.01603889465332 + ], + "predicted_reocclusion": 0.3898167610168457, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.289007186889648, + 6.1040215492248535, + 5.7337236404418945, + 12.01603889465332 + ], + "predicted_reocclusion": 0.3898167610168457, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.73471736907959, + 5.7906084060668945, + 11.548457145690918, + 5.4977240562438965 + ], + "predicted_reocclusion": 0.3766701817512512, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.73471736907959, + 5.7906084060668945, + 11.548457145690918, + 5.4977240562438965 + ], + "predicted_reocclusion": 0.3766701817512512, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.73471736907959, + 5.7906084060668945, + 11.548457145690918, + 5.4977240562438965 + ], + "predicted_reocclusion": 0.3766701817512512, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.73471736907959, + 5.7906084060668945, + 11.548457145690918, + 5.4977240562438965 + ], + "predicted_reocclusion": 0.3766701817512512, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..c1232e56e980686e0f0fdd5a050125f57b7ae656 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/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 diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..7719316c5d949aa045c26053f385d7b8f7c16391 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_handover_item_easy": { + "task_class": "BimanualHandoverItemEasy", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "bring me the item", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.970586776733398, + 5.964934825897217, + 11.782975196838379, + 5.6842498779296875 + ], + "predicted_reocclusion": 0.3817215859889984, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.970586776733398, + 5.964934825897217, + 11.782975196838379, + 5.6842498779296875 + ], + "predicted_reocclusion": 0.3817215859889984, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.970586776733398, + 5.964934825897217, + 11.782975196838379, + 5.6842498779296875 + ], + "predicted_reocclusion": 0.3817215859889984, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + 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0.3807603716850281, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.908218383789062, + 5.918282985687256, + 11.78820514678955, + 5.643401622772217 + ], + "predicted_reocclusion": 0.3807603716850281, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.908218383789062, + 5.918282985687256, + 11.78820514678955, + 5.643401622772217 + ], + "predicted_reocclusion": 0.3807603716850281, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.004595756530762, + 6.150529861450195, + 5.778533458709717, + 12.028044700622559 + ], + "predicted_reocclusion": 0.3895420432090759, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.004595756530762, + 6.150529861450195, + 5.778533458709717, + 12.028044700622559 + ], + "predicted_reocclusion": 0.3895420432090759, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.004595756530762, + 6.150529861450195, + 5.778533458709717, + 12.028044700622559 + ], + "predicted_reocclusion": 0.3895420432090759, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.004595756530762, + 6.150529861450195, + 5.778533458709717, + 12.028044700622559 + ], + "predicted_reocclusion": 0.3895420432090759, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.184292793273926, + 5.88827657699585, + 11.637954711914062, + 5.597484588623047 + ], + "predicted_reocclusion": 0.37797772884368896, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.184292793273926, + 5.88827657699585, + 11.637954711914062, + 5.597484588623047 + ], + "predicted_reocclusion": 0.37797772884368896, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.184292793273926, + 5.88827657699585, + 11.637954711914062, + 5.597484588623047 + ], + "predicted_reocclusion": 0.37797772884368896, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.184292793273926, + 5.88827657699585, + 11.637954711914062, + 5.597484588623047 + ], + "predicted_reocclusion": 0.37797772884368896, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..733ecb85d16c1c10efb0ff712fa13e23ff5cb376 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_handover_item_easy`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..4fe266bb926bb55953c113a724ca058dc72a5cff --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_handover_item_easy/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_handover_item_easy": { + "task_class": "BimanualHandoverItemEasy", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "bring me the item", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.970586776733398, + 5.964934825897217, + 11.782975196838379, + 5.6842498779296875 + ], + "predicted_reocclusion": 0.3817215859889984, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.970586776733398, + 5.964934825897217, + 11.782975196838379, + 5.6842498779296875 + ], + "predicted_reocclusion": 0.3817215859889984, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.970586776733398, + 5.964934825897217, + 11.782975196838379, + 5.6842498779296875 + ], + "predicted_reocclusion": 0.3817215859889984, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 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"noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.004595756530762, + 6.150529861450195, + 5.778533458709717, + 12.028044700622559 + ], + "predicted_reocclusion": 0.3895420432090759, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.004595756530762, + 6.150529861450195, + 5.778533458709717, + 12.028044700622559 + ], + "predicted_reocclusion": 0.3895420432090759, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.004595756530762, + 6.150529861450195, + 5.778533458709717, + 12.028044700622559 + ], + "predicted_reocclusion": 0.3895420432090759, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.184292793273926, + 5.88827657699585, + 11.637954711914062, + 5.597484588623047 + ], + "predicted_reocclusion": 0.37797772884368896, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.184292793273926, + 5.88827657699585, + 11.637954711914062, + 5.597484588623047 + ], + "predicted_reocclusion": 0.37797772884368896, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.184292793273926, + 5.88827657699585, + 11.637954711914062, + 5.597484588623047 + ], + "predicted_reocclusion": 0.37797772884368896, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.184292793273926, + 5.88827657699585, + 11.637954711914062, + 5.597484588623047 + ], + "predicted_reocclusion": 0.37797772884368896, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..5c5b21a790ae9233890d583c0892390e94803e1b --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/command.txt @@ -0,0 +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 diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..651efe842a0afa911cb715da10e0bede950aec66 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_laptop": { + "task_class": "BimanualPickLaptop", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the laptop", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.0537109375, + 6.042049407958984, + 11.852113723754883, + 5.760868549346924 + ], + "predicted_reocclusion": 0.3825225830078125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.0537109375, + 6.042049407958984, + 11.852113723754883, + 5.760868549346924 + ], + "predicted_reocclusion": 0.3825225830078125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.0537109375, + 6.042049407958984, + 11.852113723754883, + 5.760868549346924 + ], + "predicted_reocclusion": 0.3825225830078125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.0537109375, + 6.042049407958984, + 11.852113723754883, + 5.760868549346924 + ], + "predicted_reocclusion": 0.3825225830078125, + "support_mode_conditioning": true, + 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5.883456230163574, + 12.142349243164062 + ], + "predicted_reocclusion": 0.3893202543258667, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.42692756652832, + 6.253651142120361, + 5.883456230163574, + 12.142349243164062 + ], + "predicted_reocclusion": 0.3893202543258667, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.42692756652832, + 6.253651142120361, + 5.883456230163574, + 12.142349243164062 + ], + "predicted_reocclusion": 0.3893202543258667, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.476143836975098, + 5.987239837646484, + 11.74880599975586, + 5.698702812194824 + ], + "predicted_reocclusion": 0.3799327611923218, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.476143836975098, + 5.987239837646484, + 11.74880599975586, + 5.698702812194824 + ], + "predicted_reocclusion": 0.3799327611923218, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.476143836975098, + 5.987239837646484, + 11.74880599975586, + 5.698702812194824 + ], + "predicted_reocclusion": 0.3799327611923218, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.476143836975098, + 5.987239837646484, + 11.74880599975586, + 5.698702812194824 + ], + "predicted_reocclusion": 0.3799327611923218, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..73a10c019e9a1bf97fc8f6a16b1c86151109d71f --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_pick_laptop`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..de108424c3a9cb667b03e7d023dca9bfa755be6f --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/stderr.txt @@ -0,0 +1,8 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')). +WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')). diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..4135459a62868c6cde0ce0f5619e8b4a0af8fde8 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_laptop/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_laptop": { + "task_class": "BimanualPickLaptop", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the laptop", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.0537109375, + 6.042049407958984, + 11.852113723754883, + 5.760868549346924 + ], + "predicted_reocclusion": 0.3825225830078125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.0537109375, + 6.042049407958984, + 11.852113723754883, + 5.760868549346924 + ], + "predicted_reocclusion": 0.3825225830078125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.0537109375, + 6.042049407958984, + 11.852113723754883, + 5.760868549346924 + ], + "predicted_reocclusion": 0.3825225830078125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.0537109375, + 6.042049407958984, + 11.852113723754883, + 5.760868549346924 + ], + "predicted_reocclusion": 0.3825225830078125, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.869283676147461, + 6.459278583526611, + 6.079338073730469, + 12.171509742736816 + ], + "predicted_reocclusion": 0.3901340961456299, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.869283676147461, + 6.459278583526611, + 6.079338073730469, + 12.171509742736816 + ], + "predicted_reocclusion": 0.3901340961456299, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.869283676147461, + 6.459278583526611, + 6.079338073730469, + 12.171509742736816 + ], + "predicted_reocclusion": 0.3901340961456299, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.869283676147461, + 6.459278583526611, + 6.079338073730469, + 12.171509742736816 + ], + "predicted_reocclusion": 0.3901340961456299, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.07696533203125, + 6.016205787658691, + 11.894944190979004, 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"noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.42692756652832, + 6.253651142120361, + 5.883456230163574, + 12.142349243164062 + ], + "predicted_reocclusion": 0.3893202543258667, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.476143836975098, + 5.987239837646484, + 11.74880599975586, + 5.698702812194824 + ], + "predicted_reocclusion": 0.3799327611923218, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.476143836975098, + 5.987239837646484, + 11.74880599975586, + 5.698702812194824 + ], + "predicted_reocclusion": 0.3799327611923218, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.476143836975098, + 5.987239837646484, + 11.74880599975586, + 5.698702812194824 + ], + "predicted_reocclusion": 0.3799327611923218, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.476143836975098, + 5.987239837646484, + 11.74880599975586, + 5.698702812194824 + ], + "predicted_reocclusion": 0.3799327611923218, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..6783f5e5ebbd02b91d996d24aaf88bd0355f2ce4 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/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 diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..3d6f3f942b338bbcd08f834df13f89905edd26ed --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_bottle_in_fridge": { + "task_class": "BimanualPutBottleInFridge", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put bottle in fridge", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.09709644317627, + 5.925654888153076, + 11.865160942077637, + 5.650742053985596 + ], + "predicted_reocclusion": 0.3810689449310303, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.09709644317627, + 5.925654888153076, + 11.865160942077637, + 5.650742053985596 + ], + "predicted_reocclusion": 0.3810689449310303, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + 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"path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 10.886326789855957, + 6.140202522277832, + 5.77911901473999, + 12.11752986907959 + ], + "predicted_reocclusion": 0.3881509006023407, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.237479209899902, + 5.80584192276001, + 11.609903335571289, + 5.513796329498291 + ], + "predicted_reocclusion": 0.3775847852230072, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.237479209899902, + 5.80584192276001, + 11.609903335571289, + 5.513796329498291 + ], + "predicted_reocclusion": 0.3775847852230072, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.237479209899902, + 5.80584192276001, + 11.609903335571289, + 5.513796329498291 + ], + "predicted_reocclusion": 0.3775847852230072, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.237479209899902, + 5.80584192276001, + 11.609903335571289, + 5.513796329498291 + ], + "predicted_reocclusion": 0.3775847852230072, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..8b3ca4f521ef78e9bde754d0ce5c9e6d2a02e6fb --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_put_bottle_in_fridge`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..9e1df7ce93e4736bdd50c6442dc15bdd15a19181 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_bottle_in_fridge/stdout.txt @@ -0,0 +1,335 @@ +[ 0.05 -0.27500001 0.75199997] +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_bottle_in_fridge": { + "task_class": "BimanualPutBottleInFridge", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put bottle in fridge", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.09709644317627, + 5.925654888153076, + 11.865160942077637, + 5.650742053985596 + ], + "predicted_reocclusion": 0.3810689449310303, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.09709644317627, + 5.925654888153076, + 11.865160942077637, + 5.650742053985596 + ], + "predicted_reocclusion": 0.3810689449310303, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.09709644317627, + 5.925654888153076, + 11.865160942077637, + 5.650742053985596 + ], + "predicted_reocclusion": 0.3810689449310303, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.09709644317627, + 5.925654888153076, + 11.865160942077637, + 5.650742053985596 + ], + "predicted_reocclusion": 0.3810689449310303, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.442059516906738, + 6.269319534301758, + 5.88857889175415, + 12.084918975830078 + ], + "predicted_reocclusion": 0.38964664936065674, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + 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"path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 10.886326789855957, + 6.140202522277832, + 5.77911901473999, + 12.11752986907959 + ], + "predicted_reocclusion": 0.3881509006023407, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.237479209899902, + 5.80584192276001, + 11.609903335571289, + 5.513796329498291 + ], + "predicted_reocclusion": 0.3775847852230072, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.237479209899902, + 5.80584192276001, + 11.609903335571289, + 5.513796329498291 + ], + "predicted_reocclusion": 0.3775847852230072, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.237479209899902, + 5.80584192276001, + 11.609903335571289, + 5.513796329498291 + ], + "predicted_reocclusion": 0.3775847852230072, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.237479209899902, + 5.80584192276001, + 11.609903335571289, + 5.513796329498291 + ], + "predicted_reocclusion": 0.3775847852230072, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..6f6351defb675a8a61815053f1477a811555d688 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/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 diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f13feeb6699f88b2ce6121433c81abb9b7047788 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_item_in_drawer": { + "task_class": "BimanualPutItemInDrawer", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put the item in the bottom drawer", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.025218963623047, + 6.000443458557129, + 11.812177658081055, + 5.719684600830078 + ], + "predicted_reocclusion": 0.382251501083374, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.025218963623047, + 6.000443458557129, + 11.812177658081055, + 5.719684600830078 + ], + "predicted_reocclusion": 0.382251501083374, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.025218963623047, + 6.000443458557129, + 11.812177658081055, + 5.719684600830078 + ], + "predicted_reocclusion": 0.382251501083374, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.025218963623047, + 6.000443458557129, + 11.812177658081055, + 5.719684600830078 + ], + "predicted_reocclusion": 0.382251501083374, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.70076847076416, + 6.389079570770264, + 6.0074615478515625, + 12.12783145904541 + ], + "predicted_reocclusion": 0.3900434970855713, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + 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0.3815034031867981, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.382401466369629, + 6.20745325088501, + 5.833916187286377, + 12.117984771728516 + ], + "predicted_reocclusion": 0.389631062746048, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.382401466369629, + 6.20745325088501, + 5.833916187286377, + 12.117984771728516 + ], + "predicted_reocclusion": 0.389631062746048, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.382401466369629, + 6.20745325088501, + 5.833916187286377, + 12.117984771728516 + ], + "predicted_reocclusion": 0.389631062746048, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.382401466369629, + 6.20745325088501, + 5.833916187286377, + 12.117984771728516 + ], + "predicted_reocclusion": 0.389631062746048, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.137346267700195, + 5.938095569610596, + 11.654315948486328, + 5.644083499908447 + ], + "predicted_reocclusion": 0.37871772050857544, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.137346267700195, + 5.938095569610596, + 11.654315948486328, + 5.644083499908447 + ], + "predicted_reocclusion": 0.37871772050857544, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.137346267700195, + 5.938095569610596, + 11.654315948486328, + 5.644083499908447 + ], + "predicted_reocclusion": 0.37871772050857544, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.137346267700195, + 5.938095569610596, + 11.654315948486328, + 5.644083499908447 + ], + "predicted_reocclusion": 0.37871772050857544, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..a4f9c0af314c07426d26847a91dbff16ec43a8ac --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_put_item_in_drawer`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..064df5f832c800bccb3a66a5f81054494374092a --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_put_item_in_drawer/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_item_in_drawer": { + "task_class": "BimanualPutItemInDrawer", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put the item in the bottom drawer", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.025218963623047, + 6.000443458557129, + 11.812177658081055, + 5.719684600830078 + ], + "predicted_reocclusion": 0.382251501083374, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.025218963623047, + 6.000443458557129, + 11.812177658081055, + 5.719684600830078 + ], + "predicted_reocclusion": 0.382251501083374, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + 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"noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.382401466369629, + 6.20745325088501, + 5.833916187286377, + 12.117984771728516 + ], + "predicted_reocclusion": 0.389631062746048, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.137346267700195, + 5.938095569610596, + 11.654315948486328, + 5.644083499908447 + ], + "predicted_reocclusion": 0.37871772050857544, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.137346267700195, + 5.938095569610596, + 11.654315948486328, + 5.644083499908447 + ], + "predicted_reocclusion": 0.37871772050857544, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.137346267700195, + 5.938095569610596, + 11.654315948486328, + 5.644083499908447 + ], + "predicted_reocclusion": 0.37871772050857544, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.137346267700195, + 5.938095569610596, + 11.654315948486328, + 5.644083499908447 + ], + "predicted_reocclusion": 0.37871772050857544, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..bb6233796fc00cf5b8e0fb7268f6c485024f6f0a --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/command.txt @@ -0,0 +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 diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..d12e93c298a6f9b5e0f269f4864295fa9fecc327 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_straighten_rope": { + "task_class": "BimanualStraightenRope", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "straighten rope", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.588741302490234, + 5.782121181488037, + 11.639371871948242, + 5.494472503662109 + ], + "predicted_reocclusion": 0.3798917829990387, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.588741302490234, + 5.782121181488037, + 11.639371871948242, + 5.494472503662109 + ], + "predicted_reocclusion": 0.3798917829990387, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.588741302490234, + 5.782121181488037, + 11.639371871948242, + 5.494472503662109 + ], + "predicted_reocclusion": 0.3798917829990387, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.588741302490234, + 5.782121181488037, + 11.639371871948242, + 5.494472503662109 + ], + "predicted_reocclusion": 0.3798917829990387, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.313695907592773, + 5.952870845794678, + 5.539202690124512, + 11.953441619873047 + ], + "predicted_reocclusion": 0.39243757724761963, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.313695907592773, + 5.952870845794678, + 5.539202690124512, + 11.953441619873047 + ], + "predicted_reocclusion": 0.39243757724761963, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.313695907592773, + 5.952870845794678, + 5.539202690124512, + 11.953441619873047 + ], + "predicted_reocclusion": 0.39243757724761963, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.313695907592773, + 5.952870845794678, + 5.539202690124512, + 11.953441619873047 + ], + "predicted_reocclusion": 0.39243757724761963, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.439936637878418, + 5.709724426269531, + 11.589483261108398, + 5.4258713722229 + ], + "predicted_reocclusion": 0.3788076937198639, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.439936637878418, + 5.709724426269531, + 11.589483261108398, + 5.4258713722229 + ], + "predicted_reocclusion": 0.3788076937198639, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.439936637878418, + 5.709724426269531, + 11.589483261108398, + 5.4258713722229 + ], + "predicted_reocclusion": 0.3788076937198639, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.439936637878418, + 5.709724426269531, + 11.589483261108398, + 5.4258713722229 + ], + "predicted_reocclusion": 0.3788076937198639, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.279595375061035, + 6.054841995239258, + 5.678375244140625, + 12.099005699157715 + ], + "predicted_reocclusion": 0.3893745243549347, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.279595375061035, + 6.054841995239258, + 5.678375244140625, + 12.099005699157715 + ], + "predicted_reocclusion": 0.3893745243549347, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.279595375061035, + 6.054841995239258, + 5.678375244140625, + 12.099005699157715 + ], + "predicted_reocclusion": 0.3893745243549347, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.279595375061035, + 6.054841995239258, + 5.678375244140625, + 12.099005699157715 + ], + "predicted_reocclusion": 0.3893745243549347, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.545841217041016, + 5.691144943237305, + 11.526495933532715, + 5.396435737609863 + ], + "predicted_reocclusion": 0.3753328323364258, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.545841217041016, + 5.691144943237305, + 11.526495933532715, + 5.396435737609863 + ], + "predicted_reocclusion": 0.3753328323364258, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.545841217041016, + 5.691144943237305, + 11.526495933532715, + 5.396435737609863 + ], + "predicted_reocclusion": 0.3753328323364258, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.545841217041016, + 5.691144943237305, + 11.526495933532715, + 5.396435737609863 + ], + "predicted_reocclusion": 0.3753328323364258, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..b9fb5d586cf675332a82aa9b1e344dc05b22c861 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_straighten_rope`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..04333c1c3c580a76ffa12544e411015034f7e855 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_straighten_rope/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_straighten_rope": { + "task_class": "BimanualStraightenRope", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "straighten rope", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.588741302490234, + 5.782121181488037, + 11.639371871948242, + 5.494472503662109 + ], + "predicted_reocclusion": 0.3798917829990387, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.588741302490234, + 5.782121181488037, + 11.639371871948242, + 5.494472503662109 + ], + "predicted_reocclusion": 0.3798917829990387, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.588741302490234, + 5.782121181488037, + 11.639371871948242, + 5.494472503662109 + ], + "predicted_reocclusion": 0.3798917829990387, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.588741302490234, + 5.782121181488037, + 11.639371871948242, + 5.494472503662109 + ], + "predicted_reocclusion": 0.3798917829990387, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.313695907592773, + 5.952870845794678, + 5.539202690124512, + 11.953441619873047 + ], + "predicted_reocclusion": 0.39243757724761963, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.313695907592773, + 5.952870845794678, + 5.539202690124512, + 11.953441619873047 + ], + "predicted_reocclusion": 0.39243757724761963, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.313695907592773, + 5.952870845794678, + 5.539202690124512, + 11.953441619873047 + ], + "predicted_reocclusion": 0.39243757724761963, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.313695907592773, + 5.952870845794678, + 5.539202690124512, + 11.953441619873047 + ], + "predicted_reocclusion": 0.39243757724761963, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.439936637878418, + 5.709724426269531, + 11.589483261108398, + 5.4258713722229 + ], + "predicted_reocclusion": 0.3788076937198639, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.439936637878418, + 5.709724426269531, + 11.589483261108398, + 5.4258713722229 + ], + "predicted_reocclusion": 0.3788076937198639, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.439936637878418, + 5.709724426269531, + 11.589483261108398, + 5.4258713722229 + ], + "predicted_reocclusion": 0.3788076937198639, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.439936637878418, + 5.709724426269531, + 11.589483261108398, + 5.4258713722229 + ], + "predicted_reocclusion": 0.3788076937198639, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.279595375061035, + 6.054841995239258, + 5.678375244140625, + 12.099005699157715 + ], + "predicted_reocclusion": 0.3893745243549347, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.279595375061035, + 6.054841995239258, + 5.678375244140625, + 12.099005699157715 + ], + "predicted_reocclusion": 0.3893745243549347, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.279595375061035, + 6.054841995239258, + 5.678375244140625, + 12.099005699157715 + ], + "predicted_reocclusion": 0.3893745243549347, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.279595375061035, + 6.054841995239258, + 5.678375244140625, + 12.099005699157715 + ], + "predicted_reocclusion": 0.3893745243549347, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.545841217041016, + 5.691144943237305, + 11.526495933532715, + 5.396435737609863 + ], + "predicted_reocclusion": 0.3753328323364258, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.545841217041016, + 5.691144943237305, + 11.526495933532715, + 5.396435737609863 + ], + "predicted_reocclusion": 0.3753328323364258, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.545841217041016, + 5.691144943237305, + 11.526495933532715, + 5.396435737609863 + ], + "predicted_reocclusion": 0.3753328323364258, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.545841217041016, + 5.691144943237305, + 11.526495933532715, + 5.396435737609863 + ], + "predicted_reocclusion": 0.3753328323364258, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..781279773342adc1429412bfb1082ef7dbe3ac07 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/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 diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..cbbfb7a152dc0af79a4f08c94a5e02e3e306f0c1 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_sweep_to_dustpan": { + "task_class": "BimanualSweepToDustpan", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "sweep dirt to dustpan", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.018957138061523, + 5.87012243270874, + 11.783513069152832, + 5.594449520111084 + ], + "predicted_reocclusion": 0.3810321092605591, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.018957138061523, + 5.87012243270874, + 11.783513069152832, + 5.594449520111084 + ], + "predicted_reocclusion": 0.3810321092605591, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.018957138061523, + 5.87012243270874, + 11.783513069152832, + 5.594449520111084 + ], + "predicted_reocclusion": 0.3810321092605591, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 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"predicted_reocclusion": 0.3808514475822449, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.058934211730957, + 5.836539268493652, + 11.828792572021484, + 5.570562839508057 + ], + "predicted_reocclusion": 0.3808514475822449, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.058934211730957, + 5.836539268493652, + 11.828792572021484, + 5.570562839508057 + ], + "predicted_reocclusion": 0.3808514475822449, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.145184516906738, + 5.996817588806152, + 5.6288371086120605, + 12.03361701965332 + ], + "predicted_reocclusion": 0.3893498182296753, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.145184516906738, + 5.996817588806152, + 5.6288371086120605, + 12.03361701965332 + ], + "predicted_reocclusion": 0.3893498182296753, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.145184516906738, + 5.996817588806152, + 5.6288371086120605, + 12.03361701965332 + ], + "predicted_reocclusion": 0.3893498182296753, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.145184516906738, + 5.996817588806152, + 5.6288371086120605, + 12.03361701965332 + ], + "predicted_reocclusion": 0.3893498182296753, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.587077140808105, + 5.798512935638428, + 11.665790557861328, + 5.515981674194336 + ], + "predicted_reocclusion": 0.3794674873352051, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.587077140808105, + 5.798512935638428, + 11.665790557861328, + 5.515981674194336 + ], + "predicted_reocclusion": 0.3794674873352051, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.587077140808105, + 5.798512935638428, + 11.665790557861328, + 5.515981674194336 + ], + "predicted_reocclusion": 0.3794674873352051, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.587077140808105, + 5.798512935638428, + 11.665790557861328, + 5.515981674194336 + ], + "predicted_reocclusion": 0.3794674873352051, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..c1e2ff290041435465a8116424b6ad7a2ef5da65 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_sweep_to_dustpan`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..ff9678ae9f9f67cfa8fd75c3da5929912fc7de87 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_sweep_to_dustpan/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_sweep_to_dustpan": { + "task_class": "BimanualSweepToDustpan", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "sweep dirt to dustpan", + "steps": [ + { + "timestep": 0, + 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+ "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.587077140808105, + 5.798512935638428, + 11.665790557861328, + 5.515981674194336 + ], + "predicted_reocclusion": 0.3794674873352051, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.587077140808105, + 5.798512935638428, + 11.665790557861328, + 5.515981674194336 + ], + "predicted_reocclusion": 0.3794674873352051, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.587077140808105, + 5.798512935638428, + 11.665790557861328, + 5.515981674194336 + ], + "predicted_reocclusion": 0.3794674873352051, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.587077140808105, + 5.798512935638428, + 11.665790557861328, + 5.515981674194336 + ], + "predicted_reocclusion": 0.3794674873352051, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..83be8bed89ab4d4c62ea2cc9516219244c784f4d --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/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 diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..4574f69256293105cfd94b34dc525e17d426c0ce --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_take_tray_out_of_oven": { + "task_class": "BimanualTakeTrayOutOfOven", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "take tray out of oven", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.929573059082031, + 5.987537860870361, + 11.814209938049316, + 5.6998982429504395 + ], + "predicted_reocclusion": 0.38179412484169006, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.929573059082031, + 5.987537860870361, + 11.814209938049316, + 5.6998982429504395 + ], + "predicted_reocclusion": 0.38179412484169006, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.929573059082031, + 5.987537860870361, + 11.814209938049316, + 5.6998982429504395 + ], + "predicted_reocclusion": 0.38179412484169006, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + 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"predicted_reocclusion": 0.38106483221054077, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.767111778259277, + 5.931755542755127, + 11.774386405944824, + 5.646655559539795 + ], + "predicted_reocclusion": 0.38106483221054077, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.767111778259277, + 5.931755542755127, + 11.774386405944824, + 5.646655559539795 + ], + "predicted_reocclusion": 0.38106483221054077, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.574575424194336, + 6.229349613189697, + 5.854661464691162, + 12.179230690002441 + ], + "predicted_reocclusion": 0.38981467485427856, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.574575424194336, + 6.229349613189697, + 5.854661464691162, + 12.179230690002441 + ], + "predicted_reocclusion": 0.38981467485427856, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.574575424194336, + 6.229349613189697, + 5.854661464691162, + 12.179230690002441 + ], + "predicted_reocclusion": 0.38981467485427856, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.574575424194336, + 6.229349613189697, + 5.854661464691162, + 12.179230690002441 + ], + "predicted_reocclusion": 0.38981467485427856, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.876973152160645, + 5.912741661071777, + 11.671440124511719, + 5.613064289093018 + ], + "predicted_reocclusion": 0.37785547971725464, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.876973152160645, + 5.912741661071777, + 11.671440124511719, + 5.613064289093018 + ], + "predicted_reocclusion": 0.37785547971725464, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.876973152160645, + 5.912741661071777, + 11.671440124511719, + 5.613064289093018 + ], + "predicted_reocclusion": 0.37785547971725464, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.876973152160645, + 5.912741661071777, + 11.671440124511719, + 5.613064289093018 + ], + "predicted_reocclusion": 0.37785547971725464, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..00d635c8706cfb4d96536ba46a703779dcb416b1 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_take_tray_out_of_oven`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d1e6bd1698ae2578fb14277e00d31ef7501055e --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/stderr.txt @@ -0,0 +1,6 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '') +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, '')). diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..493c2102949350b14f350c2df3a6844e5fd0084d --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_take_tray_out_of_oven": { + "task_class": "BimanualTakeTrayOutOfOven", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "take tray out of oven", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.929573059082031, + 5.987537860870361, + 11.814209938049316, + 5.6998982429504395 + ], + "predicted_reocclusion": 0.38179412484169006, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.929573059082031, + 5.987537860870361, + 11.814209938049316, + 5.6998982429504395 + ], + "predicted_reocclusion": 0.38179412484169006, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.929573059082031, + 5.987537860870361, + 11.814209938049316, + 5.6998982429504395 + ], + "predicted_reocclusion": 0.38179412484169006, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.929573059082031, + 5.987537860870361, + 11.814209938049316, + 5.6998982429504395 + ], + "predicted_reocclusion": 0.38179412484169006, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.777958869934082, + 6.425827980041504, + 6.039690017700195, + 12.204901695251465 + ], + "predicted_reocclusion": 0.3899141550064087, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.876973152160645, + 5.912741661071777, + 11.671440124511719, + 5.613064289093018 + ], + "predicted_reocclusion": 0.37785547971725464, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.876973152160645, + 5.912741661071777, + 11.671440124511719, + 5.613064289093018 + ], + "predicted_reocclusion": 0.37785547971725464, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 13, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..ec374b7e23b586cf66b265e4ccf01f613f37a2df --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/rollout_eval.md @@ -0,0 +1,31 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `13` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_pick_plate`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_put_item_in_drawer`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_put_bottle_in_fridge`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_handover_item`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_pick_laptop`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_straighten_rope`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_sweep_to_dustpan`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_lift_tray`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_handover_item_easy`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_take_tray_out_of_oven`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] diff --git a/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/command.txt b/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..4ffd51134008758d004bce8d762dc7ac062598ef --- /dev/null +++ b/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/command.txt @@ -0,0 +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 diff --git a/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/rollout_eval.json b/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..8a0d7eb4cf083927afaca1aa56d8de6e0502b82b --- /dev/null +++ b/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": false, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.937088012695312, + 5.9257659912109375, + 11.745388984680176, + 5.6424713134765625 + ], + "predicted_reocclusion": 0.38209134340286255, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.937088012695312, + 5.9257659912109375, + 11.745388984680176, + 5.6424713134765625 + ], + "predicted_reocclusion": 0.38209134340286255, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.937088012695312, + 5.9257659912109375, + 11.745388984680176, + 5.6424713134765625 + ], + "predicted_reocclusion": 0.38209134340286255, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.937088012695312, + 5.9257659912109375, + 11.745388984680176, + 5.6424713134765625 + ], + "predicted_reocclusion": 0.38209134340286255, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.582372665405273, + 6.214494705200195, + 5.810072898864746, + 12.089376449584961 + ], + "predicted_reocclusion": 0.3910957872867584, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.582372665405273, + 6.214494705200195, + 5.810072898864746, + 12.089376449584961 + ], + "predicted_reocclusion": 0.3910957872867584, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.582372665405273, + 6.214494705200195, + 5.810072898864746, + 12.089376449584961 + ], + "predicted_reocclusion": 0.3910957872867584, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.582372665405273, + 6.214494705200195, + 5.810072898864746, + 12.089376449584961 + ], + "predicted_reocclusion": 0.3910957872867584, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.763474464416504, + 5.876178741455078, + 11.699414253234863, + 5.594299793243408 + ], + "predicted_reocclusion": 0.3811945617198944, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.763474464416504, + 5.876178741455078, + 11.699414253234863, + 5.594299793243408 + ], + "predicted_reocclusion": 0.3811945617198944, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.763474464416504, + 5.876178741455078, + 11.699414253234863, + 5.594299793243408 + ], + "predicted_reocclusion": 0.3811945617198944, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.763474464416504, + 5.876178741455078, + 11.699414253234863, + 5.594299793243408 + ], + "predicted_reocclusion": 0.3811945617198944, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.471626281738281, + 6.198143005371094, + 5.81951379776001, + 12.16220760345459 + ], + "predicted_reocclusion": 0.3890568017959595, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.471626281738281, + 6.198143005371094, + 5.81951379776001, + 12.16220760345459 + ], + "predicted_reocclusion": 0.3890568017959595, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.471626281738281, + 6.198143005371094, + 5.81951379776001, + 12.16220760345459 + ], + "predicted_reocclusion": 0.3890568017959595, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.471626281738281, + 6.198143005371094, + 5.81951379776001, + 12.16220760345459 + ], + "predicted_reocclusion": 0.3890568017959595, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.007949829101562, + 5.843700885772705, + 11.593058586120605, + 5.5489420890808105 + ], + "predicted_reocclusion": 0.3780692219734192, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.007949829101562, + 5.843700885772705, + 11.593058586120605, + 5.5489420890808105 + ], + "predicted_reocclusion": 0.3780692219734192, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.007949829101562, + 5.843700885772705, + 11.593058586120605, + 5.5489420890808105 + ], + "predicted_reocclusion": 0.3780692219734192, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.007949829101562, + 5.843700885772705, + 11.593058586120605, + 5.5489420890808105 + ], + "predicted_reocclusion": 0.3780692219734192, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/rollout_eval.md b/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d995b4abf020af1e1938572f5ea1029068fcc630 --- /dev/null +++ b/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `False` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/stderr.txt b/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/stdout.txt b/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..df45b2eadfcfb2d0b56ee56301025eb71337decb --- /dev/null +++ b/artifacts/reports/peract2_spatial_nogeom_ep1/spatial_phase_nogeom_seed17_plan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": false, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.937088012695312, + 5.9257659912109375, + 11.745388984680176, + 5.6424713134765625 + ], + "predicted_reocclusion": 0.38209134340286255, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.937088012695312, + 5.9257659912109375, + 11.745388984680176, + 5.6424713134765625 + ], + "predicted_reocclusion": 0.38209134340286255, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": 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b/artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6684b43bde4840ef7c1eaaeec6c481dffffc9d3d --- /dev/null +++ b/artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.partial.json b/artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..55d779c1e71aa2c58fb1f149d7915b98f91d823d --- /dev/null +++ b/artifacts/reports/rlbench_dual_buttons_baseline_len100_ep1_ik_rescale/rollout_eval.partial.json @@ -0,0 +1,1854 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 100, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 2 + ], + "noop_fallbacks": [ + 98 + ], + "reset_retries": [ + 0 + ], + 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b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..25c26e142b99fa0d98e5440549a5cd03259dab69 --- /dev/null +++ b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1/rollout_eval.json @@ -0,0 +1,27 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 100, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1/rollout_eval.md b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..428e067ff09d41abcc039b6a51b4e8eb8a62a0fd --- /dev/null +++ b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: error=The call failed on the V-REP side. Return value: -1 diff --git a/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1/rollout_eval.partial.json b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..25c26e142b99fa0d98e5440549a5cd03259dab69 --- /dev/null +++ b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1/rollout_eval.partial.json @@ -0,0 +1,27 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 100, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik/rollout_eval.json b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..505b9401ba7b0b3e51241c5c79b4fbacb96d5d19 --- /dev/null +++ b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik/rollout_eval.json @@ -0,0 +1,954 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 100, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 2 + ], + "noop_fallbacks": [ + 98 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 1 + }, + { + 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 1 + }, + { + "timestep": 99, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 1 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 2, + "noop_fallbacks": 98 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik/rollout_eval.md b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..139e5bae2ab598af71cc768ba4e767f4be8b5803 --- /dev/null +++ b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik/rollout_eval.partial.json b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..505b9401ba7b0b3e51241c5c79b4fbacb96d5d19 --- /dev/null +++ b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik/rollout_eval.partial.json @@ -0,0 +1,954 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt", + "plan_requested": 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"support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 94, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 95, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 96, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 97, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 98, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 99, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 96, + "noop_fallbacks": 4 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik_rescale/rollout_eval.md b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik_rescale/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..139e5bae2ab598af71cc768ba4e767f4be8b5803 --- /dev/null +++ b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik_rescale/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik_rescale/rollout_eval.partial.json b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik_rescale/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..904ece6492618e475a47dedcdcbda5e34b0a5870 --- /dev/null +++ b/artifacts/reports/rlbench_dual_buttons_common23_len100_ep1_ik_rescale/rollout_eval.partial.json @@ -0,0 +1,954 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 100, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 96 + ], + "noop_fallbacks": [ + 4 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": 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"predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 97, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 98, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 99, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 96, + "noop_fallbacks": 4 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1_len120/rollout_eval.json b/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1_len120/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..272a7cf5d9c9b1d6a5b093b9c0fad2102a1fd5b9 --- /dev/null +++ b/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1_len120/rollout_eval.json @@ -0,0 +1,27 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 120, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1_len120/rollout_eval.md b/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1_len120/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fba7b2b43de0a2973f3b1301bbc323a30e04570b --- /dev/null +++ b/artifacts/reports/rlbench_lift_ball_3train_probe_commit1_ep1_len120/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_3train/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: error=The call failed on the V-REP side. Return value: -1 diff --git a/artifacts/reports/rlbench_lift_ball_current_probe_commit1/rollout_eval.json b/artifacts/reports/rlbench_lift_ball_current_probe_commit1/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..b6b9c6137821d75a9fb21dcaa6f4d359b5ab59be --- /dev/null +++ b/artifacts/reports/rlbench_lift_ball_current_probe_commit1/rollout_eval.json @@ -0,0 +1,27 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 25, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_lift_ball_current_probe_commit1/rollout_eval.md b/artifacts/reports/rlbench_lift_ball_current_probe_commit1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..5d2fcb34137b9bba8cee218a43d27e25455c449c --- /dev/null +++ b/artifacts/reports/rlbench_lift_ball_current_probe_commit1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: error=The call failed on the V-REP side. Return value: -1 diff --git a/artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.json b/artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..7a7a63097833179122cbba37de93b47ac8ef0bbc --- /dev/null +++ b/artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.json @@ -0,0 +1,1494 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_wide/checkpoint_stable.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 160, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": 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"path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 159, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 148, + "noop_fallbacks": 11 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.md b/artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..108aa81ace978fba7db2506380a83b8a1aa8b5d1 --- /dev/null +++ b/artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_wide/checkpoint_stable.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.partial.json b/artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..7a7a63097833179122cbba37de93b47ac8ef0bbc --- /dev/null +++ b/artifacts/reports/rlbench_lift_ball_wide_len160_ep1_ik_c1/rollout_eval.partial.json @@ -0,0 +1,1494 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_lift_ball_backbone_only_clip_current_wide/checkpoint_stable.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 160, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 148 + ], + "noop_fallbacks": [ + 11 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + 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"noop_fallbacks": 0 + }, + { + "timestep": 95, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 96, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 97, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 98, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 99, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 98, + "noop_fallbacks": 1 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_push_box_common23_len100_ep1_ik_rescale/rollout_eval.md b/artifacts/reports/rlbench_push_box_common23_len100_ep1_ik_rescale/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d0146f24d22a7b68a451d0dc85556d82b3377d7e --- /dev/null +++ b/artifacts/reports/rlbench_push_box_common23_len100_ep1_ik_rescale/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_push_box_common23_len100_ep1_ik_rescale/rollout_eval.partial.json b/artifacts/reports/rlbench_push_box_common23_len100_ep1_ik_rescale/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..dae03951698a6ecf181825c4a6173f97aec31575 --- /dev/null +++ b/artifacts/reports/rlbench_push_box_common23_len100_ep1_ik_rescale/rollout_eval.partial.json @@ -0,0 +1,954 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 100, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 98 + ], + "noop_fallbacks": [ + 1 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + 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"planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 179, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 180, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.md b/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d4910a99ee6ba00faa162dbaae144bb093acc583 --- /dev/null +++ b/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.partial.json b/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..0193abe9e67f8d61848696ab2b2e76c17b2ddc15 --- /dev/null +++ b/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1_s005/rollout_eval.partial.json @@ -0,0 +1,1675 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 180, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 180 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + 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b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..79f6ad9007d81b048b100c4f88908fcec152dda8 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/stderr.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..40dc717ac6d32ca028554c47ba5245b4f6d87cdb --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,12 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 429, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 176, in main + raise RuntimeError( +RuntimeError: Checkpoint load failed due to incompatible weights. 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'decoder.revealer_decoder.layers.3.self_attn.in_proj_bias', 'decoder.revealer_decoder.layers.3.self_attn.in_proj_weight', 'decoder.revealer_decoder.layers.3.self_attn.out_proj.bias', 'decoder.revealer_decoder.layers.3.self_attn.out_proj.weight', 'decoder.revealer_log_std.bias', 'decoder.revealer_log_std.weight', 'decoder.revealer_mean.bias', 'decoder.revealer_mean.weight', 'fusion.geometry_fusion.attn.in_proj_bias', 'fusion.geometry_fusion.attn.in_proj_weight', 'fusion.geometry_fusion.attn.out_proj.bias', 'fusion.geometry_fusion.attn.out_proj.weight', 'fusion.geometry_fusion.gate.0.bias', 'fusion.geometry_fusion.gate.0.weight', 'fusion.geometry_fusion.gate.1.bias', 'fusion.geometry_fusion.gate.1.weight', 'fusion.geometry_fusion.gate.3.bias', 'fusion.geometry_fusion.gate.3.weight', 'fusion.geometry_fusion.out.0.bias', 'fusion.geometry_fusion.out.0.weight', 'fusion.geometry_fusion.out.1.bias', 'fusion.geometry_fusion.out.1.weight', 'memory.gru.bias_hh_l0', 'memory.gru.bias_ih_l0', 'memory.gru.weight_hh_l0', 'memory.gru.weight_ih_l0', 'memory.token_proj.0.bias', 'memory.token_proj.0.weight', 'memory.token_proj.1.bias', 'memory.token_proj.1.weight', 'memory.uncertainty_head.0.bias', 'memory.uncertainty_head.0.weight', 'memory.uncertainty_head.1.bias', 'memory.uncertainty_head.1.weight']. Unexpected keys: ['decoder.decoder.layers.0.self_attn.in_proj_weight', 'decoder.decoder.layers.0.self_attn.in_proj_bias', 'decoder.decoder.layers.0.self_attn.out_proj.weight', 'decoder.decoder.layers.0.self_attn.out_proj.bias', 'decoder.decoder.layers.0.multihead_attn.in_proj_weight', 'decoder.decoder.layers.0.multihead_attn.in_proj_bias', 'decoder.decoder.layers.0.multihead_attn.out_proj.weight', 'decoder.decoder.layers.0.multihead_attn.out_proj.bias', 'decoder.decoder.layers.0.linear1.weight', 'decoder.decoder.layers.0.linear1.bias', 'decoder.decoder.layers.0.linear2.weight', 'decoder.decoder.layers.0.linear2.bias', 'decoder.decoder.layers.0.norm1.weight', 'decoder.decoder.layers.0.norm1.bias', 'decoder.decoder.layers.0.norm2.weight', 'decoder.decoder.layers.0.norm2.bias', 'decoder.decoder.layers.0.norm3.weight', 'decoder.decoder.layers.0.norm3.bias', 'decoder.decoder.layers.1.self_attn.in_proj_weight', 'decoder.decoder.layers.1.self_attn.in_proj_bias', 'decoder.decoder.layers.1.self_attn.out_proj.weight', 'decoder.decoder.layers.1.self_attn.out_proj.bias', 'decoder.decoder.layers.1.multihead_attn.in_proj_weight', 'decoder.decoder.layers.1.multihead_attn.in_proj_bias', 'decoder.decoder.layers.1.multihead_attn.out_proj.weight', 'decoder.decoder.layers.1.multihead_attn.out_proj.bias', 'decoder.decoder.layers.1.linear1.weight', 'decoder.decoder.layers.1.linear1.bias', 'decoder.decoder.layers.1.linear2.weight', 'decoder.decoder.layers.1.linear2.bias', 'decoder.decoder.layers.1.norm1.weight', 'decoder.decoder.layers.1.norm1.bias', 'decoder.decoder.layers.1.norm2.weight', 'decoder.decoder.layers.1.norm2.bias', 'decoder.decoder.layers.1.norm3.weight', 'decoder.decoder.layers.1.norm3.bias', 'decoder.decoder.layers.2.self_attn.in_proj_weight', 'decoder.decoder.layers.2.self_attn.in_proj_bias', 'decoder.decoder.layers.2.self_attn.out_proj.weight', 'decoder.decoder.layers.2.self_attn.out_proj.bias', 'decoder.decoder.layers.2.multihead_attn.in_proj_weight', 'decoder.decoder.layers.2.multihead_attn.in_proj_bias', 'decoder.decoder.layers.2.multihead_attn.out_proj.weight', 'decoder.decoder.layers.2.multihead_attn.out_proj.bias', 'decoder.decoder.layers.2.linear1.weight', 'decoder.decoder.layers.2.linear1.bias', 'decoder.decoder.layers.2.linear2.weight', 'decoder.decoder.layers.2.linear2.bias', 'decoder.decoder.layers.2.norm1.weight', 'decoder.decoder.layers.2.norm1.bias', 'decoder.decoder.layers.2.norm2.weight', 'decoder.decoder.layers.2.norm2.bias', 'decoder.decoder.layers.2.norm3.weight', 'decoder.decoder.layers.2.norm3.bias', 'decoder.decoder.layers.3.self_attn.in_proj_weight', 'decoder.decoder.layers.3.self_attn.in_proj_bias', 'decoder.decoder.layers.3.self_attn.out_proj.weight', 'decoder.decoder.layers.3.self_attn.out_proj.bias', 'decoder.decoder.layers.3.multihead_attn.in_proj_weight', 'decoder.decoder.layers.3.multihead_attn.in_proj_bias', 'decoder.decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.decoder.layers.3.linear1.weight', 'decoder.decoder.layers.3.linear1.bias', 'decoder.decoder.layers.3.linear2.weight', 'decoder.decoder.layers.3.linear2.bias', 'decoder.decoder.layers.3.norm1.weight', 'decoder.decoder.layers.3.norm1.bias', 'decoder.decoder.layers.3.norm2.weight', 'decoder.decoder.layers.3.norm2.bias', 'decoder.decoder.layers.3.norm3.weight', 'decoder.decoder.layers.3.norm3.bias', 'decoder.action_mean.weight', 'decoder.action_mean.bias', 'decoder.action_log_std.weight', 'decoder.action_log_std.bias'] diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/stdout.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/command.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..eabccf9e6e5b43739a958c3ece994e9f8da89248 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/stderr.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..40dc717ac6d32ca028554c47ba5245b4f6d87cdb --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,12 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 429, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 176, in main + raise RuntimeError( +RuntimeError: Checkpoint load failed due to incompatible weights. 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'decoder.actor_decoder.layers.1.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.1.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.1.norm1.bias', 'decoder.actor_decoder.layers.1.norm1.weight', 'decoder.actor_decoder.layers.1.norm2.bias', 'decoder.actor_decoder.layers.1.norm2.weight', 'decoder.actor_decoder.layers.1.norm3.bias', 'decoder.actor_decoder.layers.1.norm3.weight', 'decoder.actor_decoder.layers.1.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.1.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.1.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.1.self_attn.out_proj.weight', 'decoder.actor_decoder.layers.2.linear1.bias', 'decoder.actor_decoder.layers.2.linear1.weight', 'decoder.actor_decoder.layers.2.linear2.bias', 'decoder.actor_decoder.layers.2.linear2.weight', 'decoder.actor_decoder.layers.2.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.2.multihead_attn.in_proj_weight', 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'decoder.decoder.layers.1.self_attn.out_proj.weight', 'decoder.decoder.layers.1.self_attn.out_proj.bias', 'decoder.decoder.layers.1.multihead_attn.in_proj_weight', 'decoder.decoder.layers.1.multihead_attn.in_proj_bias', 'decoder.decoder.layers.1.multihead_attn.out_proj.weight', 'decoder.decoder.layers.1.multihead_attn.out_proj.bias', 'decoder.decoder.layers.1.linear1.weight', 'decoder.decoder.layers.1.linear1.bias', 'decoder.decoder.layers.1.linear2.weight', 'decoder.decoder.layers.1.linear2.bias', 'decoder.decoder.layers.1.norm1.weight', 'decoder.decoder.layers.1.norm1.bias', 'decoder.decoder.layers.1.norm2.weight', 'decoder.decoder.layers.1.norm2.bias', 'decoder.decoder.layers.1.norm3.weight', 'decoder.decoder.layers.1.norm3.bias', 'decoder.decoder.layers.2.self_attn.in_proj_weight', 'decoder.decoder.layers.2.self_attn.in_proj_bias', 'decoder.decoder.layers.2.self_attn.out_proj.weight', 'decoder.decoder.layers.2.self_attn.out_proj.bias', 'decoder.decoder.layers.2.multihead_attn.in_proj_weight', 'decoder.decoder.layers.2.multihead_attn.in_proj_bias', 'decoder.decoder.layers.2.multihead_attn.out_proj.weight', 'decoder.decoder.layers.2.multihead_attn.out_proj.bias', 'decoder.decoder.layers.2.linear1.weight', 'decoder.decoder.layers.2.linear1.bias', 'decoder.decoder.layers.2.linear2.weight', 'decoder.decoder.layers.2.linear2.bias', 'decoder.decoder.layers.2.norm1.weight', 'decoder.decoder.layers.2.norm1.bias', 'decoder.decoder.layers.2.norm2.weight', 'decoder.decoder.layers.2.norm2.bias', 'decoder.decoder.layers.2.norm3.weight', 'decoder.decoder.layers.2.norm3.bias', 'decoder.decoder.layers.3.self_attn.in_proj_weight', 'decoder.decoder.layers.3.self_attn.in_proj_bias', 'decoder.decoder.layers.3.self_attn.out_proj.weight', 'decoder.decoder.layers.3.self_attn.out_proj.bias', 'decoder.decoder.layers.3.multihead_attn.in_proj_weight', 'decoder.decoder.layers.3.multihead_attn.in_proj_bias', 'decoder.decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.decoder.layers.3.linear1.weight', 'decoder.decoder.layers.3.linear1.bias', 'decoder.decoder.layers.3.linear2.weight', 'decoder.decoder.layers.3.linear2.bias', 'decoder.decoder.layers.3.norm1.weight', 'decoder.decoder.layers.3.norm1.bias', 'decoder.decoder.layers.3.norm2.weight', 'decoder.decoder.layers.3.norm2.bias', 'decoder.decoder.layers.3.norm3.weight', 'decoder.decoder.layers.3.norm3.bias', 'decoder.action_mean.weight', 'decoder.action_mean.bias', 'decoder.action_log_std.weight', 'decoder.action_log_std.bias'] diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/stdout.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_push_box/command.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..78b3dac62c46dd5de61c93859a09d1fd2d02dd0c --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_push_box/stderr.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..40dc717ac6d32ca028554c47ba5245b4f6d87cdb --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,12 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 429, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 176, in main + raise RuntimeError( +RuntimeError: Checkpoint load failed due to incompatible weights. Missing keys: ['backbone.depth_adapter.camera_proj.0.bias', 'backbone.depth_adapter.camera_proj.0.weight', 'backbone.depth_adapter.camera_proj.1.bias', 'backbone.depth_adapter.camera_proj.1.weight', 'backbone.depth_adapter.depth_proj.0.bias', 'backbone.depth_adapter.depth_proj.0.weight', 'backbone.depth_adapter.depth_proj.1.bias', 'backbone.depth_adapter.depth_proj.1.weight', 'backbone.depth_adapter.depth_proj.3.bias', 'backbone.depth_adapter.depth_proj.3.weight', 'backbone.depth_adapter.geometry_proj.0.bias', 'backbone.depth_adapter.geometry_proj.0.weight', 'backbone.depth_adapter.geometry_proj.1.bias', 'backbone.depth_adapter.geometry_proj.1.weight', 'decoder.actor_decoder.layers.0.linear1.bias', 'decoder.actor_decoder.layers.0.linear1.weight', 'decoder.actor_decoder.layers.0.linear2.bias', 'decoder.actor_decoder.layers.0.linear2.weight', 'decoder.actor_decoder.layers.0.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.0.multihead_attn.in_proj_weight', 'decoder.actor_decoder.layers.0.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.0.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.0.norm1.bias', 'decoder.actor_decoder.layers.0.norm1.weight', 'decoder.actor_decoder.layers.0.norm2.bias', 'decoder.actor_decoder.layers.0.norm2.weight', 'decoder.actor_decoder.layers.0.norm3.bias', 'decoder.actor_decoder.layers.0.norm3.weight', 'decoder.actor_decoder.layers.0.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.0.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.0.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.0.self_attn.out_proj.weight', 'decoder.actor_decoder.layers.1.linear1.bias', 'decoder.actor_decoder.layers.1.linear1.weight', 'decoder.actor_decoder.layers.1.linear2.bias', 'decoder.actor_decoder.layers.1.linear2.weight', 'decoder.actor_decoder.layers.1.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.1.multihead_attn.in_proj_weight', 'decoder.actor_decoder.layers.1.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.1.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.1.norm1.bias', 'decoder.actor_decoder.layers.1.norm1.weight', 'decoder.actor_decoder.layers.1.norm2.bias', 'decoder.actor_decoder.layers.1.norm2.weight', 'decoder.actor_decoder.layers.1.norm3.bias', 'decoder.actor_decoder.layers.1.norm3.weight', 'decoder.actor_decoder.layers.1.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.1.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.1.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.1.self_attn.out_proj.weight', 'decoder.actor_decoder.layers.2.linear1.bias', 'decoder.actor_decoder.layers.2.linear1.weight', 'decoder.actor_decoder.layers.2.linear2.bias', 'decoder.actor_decoder.layers.2.linear2.weight', 'decoder.actor_decoder.layers.2.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.2.multihead_attn.in_proj_weight', 'decoder.actor_decoder.layers.2.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.2.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.2.norm1.bias', 'decoder.actor_decoder.layers.2.norm1.weight', 'decoder.actor_decoder.layers.2.norm2.bias', 'decoder.actor_decoder.layers.2.norm2.weight', 'decoder.actor_decoder.layers.2.norm3.bias', 'decoder.actor_decoder.layers.2.norm3.weight', 'decoder.actor_decoder.layers.2.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.2.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.2.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.2.self_attn.out_proj.weight', 'decoder.actor_decoder.layers.3.linear1.bias', 'decoder.actor_decoder.layers.3.linear1.weight', 'decoder.actor_decoder.layers.3.linear2.bias', 'decoder.actor_decoder.layers.3.linear2.weight', 'decoder.actor_decoder.layers.3.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.3.multihead_attn.in_proj_weight', 'decoder.actor_decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.3.norm1.bias', 'decoder.actor_decoder.layers.3.norm1.weight', 'decoder.actor_decoder.layers.3.norm2.bias', 'decoder.actor_decoder.layers.3.norm2.weight', 'decoder.actor_decoder.layers.3.norm3.bias', 'decoder.actor_decoder.layers.3.norm3.weight', 'decoder.actor_decoder.layers.3.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.3.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.3.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.3.self_attn.out_proj.weight', 'decoder.actor_log_std.bias', 'decoder.actor_log_std.weight', 'decoder.actor_mean.bias', 'decoder.actor_mean.weight', 'decoder.actor_role_bias', 'decoder.coordination.0.bias', 'decoder.coordination.0.weight', 'decoder.coordination.1.bias', 'decoder.coordination.1.weight', 'decoder.coordination.3.bias', 'decoder.coordination.3.weight', 'decoder.revealer_decoder.layers.0.linear1.bias', 'decoder.revealer_decoder.layers.0.linear1.weight', 'decoder.revealer_decoder.layers.0.linear2.bias', 'decoder.revealer_decoder.layers.0.linear2.weight', 'decoder.revealer_decoder.layers.0.multihead_attn.in_proj_bias', 'decoder.revealer_decoder.layers.0.multihead_attn.in_proj_weight', 'decoder.revealer_decoder.layers.0.multihead_attn.out_proj.bias', 'decoder.revealer_decoder.layers.0.multihead_attn.out_proj.weight', 'decoder.revealer_decoder.layers.0.norm1.bias', 'decoder.revealer_decoder.layers.0.norm1.weight', 'decoder.revealer_decoder.layers.0.norm2.bias', 'decoder.revealer_decoder.layers.0.norm2.weight', 'decoder.revealer_decoder.layers.0.norm3.bias', 'decoder.revealer_decoder.layers.0.norm3.weight', 'decoder.revealer_decoder.layers.0.self_attn.in_proj_bias', 'decoder.revealer_decoder.layers.0.self_attn.in_proj_weight', 'decoder.revealer_decoder.layers.0.self_attn.out_proj.bias', 'decoder.revealer_decoder.layers.0.self_attn.out_proj.weight', 'decoder.revealer_decoder.layers.1.linear1.bias', 'decoder.revealer_decoder.layers.1.linear1.weight', 'decoder.revealer_decoder.layers.1.linear2.bias', 'decoder.revealer_decoder.layers.1.linear2.weight', 'decoder.revealer_decoder.layers.1.multihead_attn.in_proj_bias', 'decoder.revealer_decoder.layers.1.multihead_attn.in_proj_weight', 'decoder.revealer_decoder.layers.1.multihead_attn.out_proj.bias', 'decoder.revealer_decoder.layers.1.multihead_attn.out_proj.weight', 'decoder.revealer_decoder.layers.1.norm1.bias', 'decoder.revealer_decoder.layers.1.norm1.weight', 'decoder.revealer_decoder.layers.1.norm2.bias', 'decoder.revealer_decoder.layers.1.norm2.weight', 'decoder.revealer_decoder.layers.1.norm3.bias', 'decoder.revealer_decoder.layers.1.norm3.weight', 'decoder.revealer_decoder.layers.1.self_attn.in_proj_bias', 'decoder.revealer_decoder.layers.1.self_attn.in_proj_weight', 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'decoder.revealer_decoder.layers.2.self_attn.in_proj_weight', 'decoder.revealer_decoder.layers.2.self_attn.out_proj.bias', 'decoder.revealer_decoder.layers.2.self_attn.out_proj.weight', 'decoder.revealer_decoder.layers.3.linear1.bias', 'decoder.revealer_decoder.layers.3.linear1.weight', 'decoder.revealer_decoder.layers.3.linear2.bias', 'decoder.revealer_decoder.layers.3.linear2.weight', 'decoder.revealer_decoder.layers.3.multihead_attn.in_proj_bias', 'decoder.revealer_decoder.layers.3.multihead_attn.in_proj_weight', 'decoder.revealer_decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.revealer_decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.revealer_decoder.layers.3.norm1.bias', 'decoder.revealer_decoder.layers.3.norm1.weight', 'decoder.revealer_decoder.layers.3.norm2.bias', 'decoder.revealer_decoder.layers.3.norm2.weight', 'decoder.revealer_decoder.layers.3.norm3.bias', 'decoder.revealer_decoder.layers.3.norm3.weight', 'decoder.revealer_decoder.layers.3.self_attn.in_proj_bias', 'decoder.revealer_decoder.layers.3.self_attn.in_proj_weight', 'decoder.revealer_decoder.layers.3.self_attn.out_proj.bias', 'decoder.revealer_decoder.layers.3.self_attn.out_proj.weight', 'decoder.revealer_log_std.bias', 'decoder.revealer_log_std.weight', 'decoder.revealer_mean.bias', 'decoder.revealer_mean.weight', 'fusion.geometry_fusion.attn.in_proj_bias', 'fusion.geometry_fusion.attn.in_proj_weight', 'fusion.geometry_fusion.attn.out_proj.bias', 'fusion.geometry_fusion.attn.out_proj.weight', 'fusion.geometry_fusion.gate.0.bias', 'fusion.geometry_fusion.gate.0.weight', 'fusion.geometry_fusion.gate.1.bias', 'fusion.geometry_fusion.gate.1.weight', 'fusion.geometry_fusion.gate.3.bias', 'fusion.geometry_fusion.gate.3.weight', 'fusion.geometry_fusion.out.0.bias', 'fusion.geometry_fusion.out.0.weight', 'fusion.geometry_fusion.out.1.bias', 'fusion.geometry_fusion.out.1.weight', 'memory.gru.bias_hh_l0', 'memory.gru.bias_ih_l0', 'memory.gru.weight_hh_l0', 'memory.gru.weight_ih_l0', 'memory.token_proj.0.bias', 'memory.token_proj.0.weight', 'memory.token_proj.1.bias', 'memory.token_proj.1.weight', 'memory.uncertainty_head.0.bias', 'memory.uncertainty_head.0.weight', 'memory.uncertainty_head.1.bias', 'memory.uncertainty_head.1.weight']. Unexpected keys: ['decoder.decoder.layers.0.self_attn.in_proj_weight', 'decoder.decoder.layers.0.self_attn.in_proj_bias', 'decoder.decoder.layers.0.self_attn.out_proj.weight', 'decoder.decoder.layers.0.self_attn.out_proj.bias', 'decoder.decoder.layers.0.multihead_attn.in_proj_weight', 'decoder.decoder.layers.0.multihead_attn.in_proj_bias', 'decoder.decoder.layers.0.multihead_attn.out_proj.weight', 'decoder.decoder.layers.0.multihead_attn.out_proj.bias', 'decoder.decoder.layers.0.linear1.weight', 'decoder.decoder.layers.0.linear1.bias', 'decoder.decoder.layers.0.linear2.weight', 'decoder.decoder.layers.0.linear2.bias', 'decoder.decoder.layers.0.norm1.weight', 'decoder.decoder.layers.0.norm1.bias', 'decoder.decoder.layers.0.norm2.weight', 'decoder.decoder.layers.0.norm2.bias', 'decoder.decoder.layers.0.norm3.weight', 'decoder.decoder.layers.0.norm3.bias', 'decoder.decoder.layers.1.self_attn.in_proj_weight', 'decoder.decoder.layers.1.self_attn.in_proj_bias', 'decoder.decoder.layers.1.self_attn.out_proj.weight', 'decoder.decoder.layers.1.self_attn.out_proj.bias', 'decoder.decoder.layers.1.multihead_attn.in_proj_weight', 'decoder.decoder.layers.1.multihead_attn.in_proj_bias', 'decoder.decoder.layers.1.multihead_attn.out_proj.weight', 'decoder.decoder.layers.1.multihead_attn.out_proj.bias', 'decoder.decoder.layers.1.linear1.weight', 'decoder.decoder.layers.1.linear1.bias', 'decoder.decoder.layers.1.linear2.weight', 'decoder.decoder.layers.1.linear2.bias', 'decoder.decoder.layers.1.norm1.weight', 'decoder.decoder.layers.1.norm1.bias', 'decoder.decoder.layers.1.norm2.weight', 'decoder.decoder.layers.1.norm2.bias', 'decoder.decoder.layers.1.norm3.weight', 'decoder.decoder.layers.1.norm3.bias', 'decoder.decoder.layers.2.self_attn.in_proj_weight', 'decoder.decoder.layers.2.self_attn.in_proj_bias', 'decoder.decoder.layers.2.self_attn.out_proj.weight', 'decoder.decoder.layers.2.self_attn.out_proj.bias', 'decoder.decoder.layers.2.multihead_attn.in_proj_weight', 'decoder.decoder.layers.2.multihead_attn.in_proj_bias', 'decoder.decoder.layers.2.multihead_attn.out_proj.weight', 'decoder.decoder.layers.2.multihead_attn.out_proj.bias', 'decoder.decoder.layers.2.linear1.weight', 'decoder.decoder.layers.2.linear1.bias', 'decoder.decoder.layers.2.linear2.weight', 'decoder.decoder.layers.2.linear2.bias', 'decoder.decoder.layers.2.norm1.weight', 'decoder.decoder.layers.2.norm1.bias', 'decoder.decoder.layers.2.norm2.weight', 'decoder.decoder.layers.2.norm2.bias', 'decoder.decoder.layers.2.norm3.weight', 'decoder.decoder.layers.2.norm3.bias', 'decoder.decoder.layers.3.self_attn.in_proj_weight', 'decoder.decoder.layers.3.self_attn.in_proj_bias', 'decoder.decoder.layers.3.self_attn.out_proj.weight', 'decoder.decoder.layers.3.self_attn.out_proj.bias', 'decoder.decoder.layers.3.multihead_attn.in_proj_weight', 'decoder.decoder.layers.3.multihead_attn.in_proj_bias', 'decoder.decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.decoder.layers.3.linear1.weight', 'decoder.decoder.layers.3.linear1.bias', 'decoder.decoder.layers.3.linear2.weight', 'decoder.decoder.layers.3.linear2.bias', 'decoder.decoder.layers.3.norm1.weight', 'decoder.decoder.layers.3.norm1.bias', 'decoder.decoder.layers.3.norm2.weight', 'decoder.decoder.layers.3.norm2.bias', 'decoder.decoder.layers.3.norm3.weight', 'decoder.decoder.layers.3.norm3.bias', 'decoder.action_mean.weight', 'decoder.action_mean.bias', 'decoder.action_log_std.weight', 'decoder.action_log_std.bias'] diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_push_box/stdout.txt b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/rollout_eval.json b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..e1a660529c9da2826ec8c93d8f8bb364270bc486 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/rollout_eval.json @@ -0,0 +1,44 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_lift_ball": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_push_box": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [ + "bimanual_dual_push_buttons", + "bimanual_lift_ball", + "bimanual_push_box" + ], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/rollout_eval.md b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..af718e546efb07beae6cf1f7c455c5473bd9e7cd --- /dev/null +++ b/artifacts/reports/rlbench_subset3_backbone_only_clip_probe_v2/subset3_backbone_only_clip_plan_split/rollout_eval.md @@ -0,0 +1,21 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_backbone_only_clip/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `['bimanual_dual_push_buttons', 'bimanual_lift_ball', 'bimanual_push_box']` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 diff --git a/artifacts/reports/rlbench_subset3_common23_probe_len120_ep1/rollout_eval.partial.json b/artifacts/reports/rlbench_subset3_common23_probe_len120_ep1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..bfa0d372261d313976373c075704ffb153bc6c5f --- /dev/null +++ b/artifacts/reports/rlbench_subset3_common23_probe_len120_ep1/rollout_eval.partial.json @@ -0,0 +1,27 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 120, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_subset3_common23_probe_len120_ep1_reordered/rollout_eval.partial.json b/artifacts/reports/rlbench_subset3_common23_probe_len120_ep1_reordered/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..3d7b0bff849dece53f05e3a0a1dac1af85c2c9eb --- /dev/null +++ b/artifacts/reports/rlbench_subset3_common23_probe_len120_ep1_reordered/rollout_eval.partial.json @@ -0,0 +1,27 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_stable.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 120, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/command.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a0d42c72474861e06ebfdb051285a726cdb7a3c --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/stderr.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..b8737d4694d0c7cb14135374ba8513768488d687 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,12 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 429, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 176, in main + raise RuntimeError( +RuntimeError: Checkpoint load failed due to incompatible weights. 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'decoder.decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.decoder.layers.3.linear1.weight', 'decoder.decoder.layers.3.linear1.bias', 'decoder.decoder.layers.3.linear2.weight', 'decoder.decoder.layers.3.linear2.bias', 'decoder.decoder.layers.3.norm1.weight', 'decoder.decoder.layers.3.norm1.bias', 'decoder.decoder.layers.3.norm2.weight', 'decoder.decoder.layers.3.norm2.bias', 'decoder.decoder.layers.3.norm3.weight', 'decoder.decoder.layers.3.norm3.bias', 'decoder.action_mean.weight', 'decoder.action_mean.bias', 'decoder.action_log_std.weight', 'decoder.action_log_std.bias', 'reveal_head.trunk.0.weight', 'reveal_head.trunk.0.bias', 'reveal_head.trunk.1.weight', 'reveal_head.trunk.1.bias', 'reveal_head.corridor.weight', 'reveal_head.corridor.bias', 'reveal_head.persistence.weight', 'reveal_head.persistence.bias', 'reveal_head.disturbance.weight', 'reveal_head.disturbance.bias', 'reveal_head.belief_map.weight', 'reveal_head.belief_map.bias', 'reveal_head.support_mode.weight', 'reveal_head.support_mode.bias'] diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/stdout.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/command.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..b38dde84c16f659af03c603ff151a0b110251584 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/stderr.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..b8737d4694d0c7cb14135374ba8513768488d687 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,12 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 429, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 176, in main + raise RuntimeError( +RuntimeError: Checkpoint load failed due to incompatible weights. Missing keys: ['backbone.depth_adapter.camera_proj.0.bias', 'backbone.depth_adapter.camera_proj.0.weight', 'backbone.depth_adapter.camera_proj.1.bias', 'backbone.depth_adapter.camera_proj.1.weight', 'backbone.depth_adapter.depth_proj.0.bias', 'backbone.depth_adapter.depth_proj.0.weight', 'backbone.depth_adapter.depth_proj.1.bias', 'backbone.depth_adapter.depth_proj.1.weight', 'backbone.depth_adapter.depth_proj.3.bias', 'backbone.depth_adapter.depth_proj.3.weight', 'backbone.depth_adapter.geometry_proj.0.bias', 'backbone.depth_adapter.geometry_proj.0.weight', 'backbone.depth_adapter.geometry_proj.1.bias', 'backbone.depth_adapter.geometry_proj.1.weight', 'decoder.actor_decoder.layers.0.linear1.bias', 'decoder.actor_decoder.layers.0.linear1.weight', 'decoder.actor_decoder.layers.0.linear2.bias', 'decoder.actor_decoder.layers.0.linear2.weight', 'decoder.actor_decoder.layers.0.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.0.multihead_attn.in_proj_weight', 'decoder.actor_decoder.layers.0.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.0.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.0.norm1.bias', 'decoder.actor_decoder.layers.0.norm1.weight', 'decoder.actor_decoder.layers.0.norm2.bias', 'decoder.actor_decoder.layers.0.norm2.weight', 'decoder.actor_decoder.layers.0.norm3.bias', 'decoder.actor_decoder.layers.0.norm3.weight', 'decoder.actor_decoder.layers.0.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.0.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.0.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.0.self_attn.out_proj.weight', 'decoder.actor_decoder.layers.1.linear1.bias', 'decoder.actor_decoder.layers.1.linear1.weight', 'decoder.actor_decoder.layers.1.linear2.bias', 'decoder.actor_decoder.layers.1.linear2.weight', 'decoder.actor_decoder.layers.1.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.1.multihead_attn.in_proj_weight', 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'decoder.actor_decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.3.norm1.bias', 'decoder.actor_decoder.layers.3.norm1.weight', 'decoder.actor_decoder.layers.3.norm2.bias', 'decoder.actor_decoder.layers.3.norm2.weight', 'decoder.actor_decoder.layers.3.norm3.bias', 'decoder.actor_decoder.layers.3.norm3.weight', 'decoder.actor_decoder.layers.3.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.3.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.3.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.3.self_attn.out_proj.weight', 'decoder.actor_log_std.bias', 'decoder.actor_log_std.weight', 'decoder.actor_mean.bias', 'decoder.actor_mean.weight', 'decoder.actor_role_bias', 'decoder.coordination.0.bias', 'decoder.coordination.0.weight', 'decoder.coordination.1.bias', 'decoder.coordination.1.weight', 'decoder.coordination.3.bias', 'decoder.coordination.3.weight', 'decoder.revealer_decoder.layers.0.linear1.bias', 'decoder.revealer_decoder.layers.0.linear1.weight', 'decoder.revealer_decoder.layers.0.linear2.bias', 'decoder.revealer_decoder.layers.0.linear2.weight', 'decoder.revealer_decoder.layers.0.multihead_attn.in_proj_bias', 'decoder.revealer_decoder.layers.0.multihead_attn.in_proj_weight', 'decoder.revealer_decoder.layers.0.multihead_attn.out_proj.bias', 'decoder.revealer_decoder.layers.0.multihead_attn.out_proj.weight', 'decoder.revealer_decoder.layers.0.norm1.bias', 'decoder.revealer_decoder.layers.0.norm1.weight', 'decoder.revealer_decoder.layers.0.norm2.bias', 'decoder.revealer_decoder.layers.0.norm2.weight', 'decoder.revealer_decoder.layers.0.norm3.bias', 'decoder.revealer_decoder.layers.0.norm3.weight', 'decoder.revealer_decoder.layers.0.self_attn.in_proj_bias', 'decoder.revealer_decoder.layers.0.self_attn.in_proj_weight', 'decoder.revealer_decoder.layers.0.self_attn.out_proj.bias', 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'reveal_head.field_mlp.1.weight', 'reveal_head.field_mlp.3.bias', 'reveal_head.field_mlp.3.weight', 'reveal_head.field_queries', 'reveal_head.latent_summary.0.bias', 'reveal_head.latent_summary.0.weight', 'reveal_head.latent_summary.1.bias', 'reveal_head.latent_summary.1.weight', 'reveal_head.persistence_field.bias', 'reveal_head.persistence_field.weight', 'reveal_head.reocclusion_head.0.bias', 'reveal_head.reocclusion_head.0.weight', 'reveal_head.reocclusion_head.1.bias', 'reveal_head.reocclusion_head.1.weight', 'reveal_head.reocclusion_head.3.bias', 'reveal_head.reocclusion_head.3.weight', 'reveal_head.support_mode.0.bias', 'reveal_head.support_mode.0.weight', 'reveal_head.support_mode.1.bias', 'reveal_head.support_mode.1.weight', 'reveal_head.support_mode.3.bias', 'reveal_head.support_mode.3.weight', 'reveal_head.uncertainty_field.bias', 'reveal_head.uncertainty_field.weight', 'world_model.reocclusion.bias', 'world_model.reocclusion.weight', 'world_model.uncertainty.bias', 'world_model.uncertainty.weight']. Unexpected keys: ['decoder.decoder.layers.0.self_attn.in_proj_weight', 'decoder.decoder.layers.0.self_attn.in_proj_bias', 'decoder.decoder.layers.0.self_attn.out_proj.weight', 'decoder.decoder.layers.0.self_attn.out_proj.bias', 'decoder.decoder.layers.0.multihead_attn.in_proj_weight', 'decoder.decoder.layers.0.multihead_attn.in_proj_bias', 'decoder.decoder.layers.0.multihead_attn.out_proj.weight', 'decoder.decoder.layers.0.multihead_attn.out_proj.bias', 'decoder.decoder.layers.0.linear1.weight', 'decoder.decoder.layers.0.linear1.bias', 'decoder.decoder.layers.0.linear2.weight', 'decoder.decoder.layers.0.linear2.bias', 'decoder.decoder.layers.0.norm1.weight', 'decoder.decoder.layers.0.norm1.bias', 'decoder.decoder.layers.0.norm2.weight', 'decoder.decoder.layers.0.norm2.bias', 'decoder.decoder.layers.0.norm3.weight', 'decoder.decoder.layers.0.norm3.bias', 'decoder.decoder.layers.1.self_attn.in_proj_weight', 'decoder.decoder.layers.1.self_attn.in_proj_bias', 'decoder.decoder.layers.1.self_attn.out_proj.weight', 'decoder.decoder.layers.1.self_attn.out_proj.bias', 'decoder.decoder.layers.1.multihead_attn.in_proj_weight', 'decoder.decoder.layers.1.multihead_attn.in_proj_bias', 'decoder.decoder.layers.1.multihead_attn.out_proj.weight', 'decoder.decoder.layers.1.multihead_attn.out_proj.bias', 'decoder.decoder.layers.1.linear1.weight', 'decoder.decoder.layers.1.linear1.bias', 'decoder.decoder.layers.1.linear2.weight', 'decoder.decoder.layers.1.linear2.bias', 'decoder.decoder.layers.1.norm1.weight', 'decoder.decoder.layers.1.norm1.bias', 'decoder.decoder.layers.1.norm2.weight', 'decoder.decoder.layers.1.norm2.bias', 'decoder.decoder.layers.1.norm3.weight', 'decoder.decoder.layers.1.norm3.bias', 'decoder.decoder.layers.2.self_attn.in_proj_weight', 'decoder.decoder.layers.2.self_attn.in_proj_bias', 'decoder.decoder.layers.2.self_attn.out_proj.weight', 'decoder.decoder.layers.2.self_attn.out_proj.bias', 'decoder.decoder.layers.2.multihead_attn.in_proj_weight', 'decoder.decoder.layers.2.multihead_attn.in_proj_bias', 'decoder.decoder.layers.2.multihead_attn.out_proj.weight', 'decoder.decoder.layers.2.multihead_attn.out_proj.bias', 'decoder.decoder.layers.2.linear1.weight', 'decoder.decoder.layers.2.linear1.bias', 'decoder.decoder.layers.2.linear2.weight', 'decoder.decoder.layers.2.linear2.bias', 'decoder.decoder.layers.2.norm1.weight', 'decoder.decoder.layers.2.norm1.bias', 'decoder.decoder.layers.2.norm2.weight', 'decoder.decoder.layers.2.norm2.bias', 'decoder.decoder.layers.2.norm3.weight', 'decoder.decoder.layers.2.norm3.bias', 'decoder.decoder.layers.3.self_attn.in_proj_weight', 'decoder.decoder.layers.3.self_attn.in_proj_bias', 'decoder.decoder.layers.3.self_attn.out_proj.weight', 'decoder.decoder.layers.3.self_attn.out_proj.bias', 'decoder.decoder.layers.3.multihead_attn.in_proj_weight', 'decoder.decoder.layers.3.multihead_attn.in_proj_bias', 'decoder.decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.decoder.layers.3.linear1.weight', 'decoder.decoder.layers.3.linear1.bias', 'decoder.decoder.layers.3.linear2.weight', 'decoder.decoder.layers.3.linear2.bias', 'decoder.decoder.layers.3.norm1.weight', 'decoder.decoder.layers.3.norm1.bias', 'decoder.decoder.layers.3.norm2.weight', 'decoder.decoder.layers.3.norm2.bias', 'decoder.decoder.layers.3.norm3.weight', 'decoder.decoder.layers.3.norm3.bias', 'decoder.action_mean.weight', 'decoder.action_mean.bias', 'decoder.action_log_std.weight', 'decoder.action_log_std.bias', 'reveal_head.trunk.0.weight', 'reveal_head.trunk.0.bias', 'reveal_head.trunk.1.weight', 'reveal_head.trunk.1.bias', 'reveal_head.corridor.weight', 'reveal_head.corridor.bias', 'reveal_head.persistence.weight', 'reveal_head.persistence.bias', 'reveal_head.disturbance.weight', 'reveal_head.disturbance.bias', 'reveal_head.belief_map.weight', 'reveal_head.belief_map.bias', 'reveal_head.support_mode.weight', 'reveal_head.support_mode.bias'] diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/stdout.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_push_box/command.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..901826ed7cb36f6749d76360dd027837fbcb8519 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_push_box/stderr.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..b8737d4694d0c7cb14135374ba8513768488d687 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,12 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 429, in + main() + File "/workspace/VLAarchtests_work/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 176, in main + raise RuntimeError( +RuntimeError: Checkpoint load failed due to incompatible weights. Missing keys: ['backbone.depth_adapter.camera_proj.0.bias', 'backbone.depth_adapter.camera_proj.0.weight', 'backbone.depth_adapter.camera_proj.1.bias', 'backbone.depth_adapter.camera_proj.1.weight', 'backbone.depth_adapter.depth_proj.0.bias', 'backbone.depth_adapter.depth_proj.0.weight', 'backbone.depth_adapter.depth_proj.1.bias', 'backbone.depth_adapter.depth_proj.1.weight', 'backbone.depth_adapter.depth_proj.3.bias', 'backbone.depth_adapter.depth_proj.3.weight', 'backbone.depth_adapter.geometry_proj.0.bias', 'backbone.depth_adapter.geometry_proj.0.weight', 'backbone.depth_adapter.geometry_proj.1.bias', 'backbone.depth_adapter.geometry_proj.1.weight', 'decoder.actor_decoder.layers.0.linear1.bias', 'decoder.actor_decoder.layers.0.linear1.weight', 'decoder.actor_decoder.layers.0.linear2.bias', 'decoder.actor_decoder.layers.0.linear2.weight', 'decoder.actor_decoder.layers.0.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.0.multihead_attn.in_proj_weight', 'decoder.actor_decoder.layers.0.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.0.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.0.norm1.bias', 'decoder.actor_decoder.layers.0.norm1.weight', 'decoder.actor_decoder.layers.0.norm2.bias', 'decoder.actor_decoder.layers.0.norm2.weight', 'decoder.actor_decoder.layers.0.norm3.bias', 'decoder.actor_decoder.layers.0.norm3.weight', 'decoder.actor_decoder.layers.0.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.0.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.0.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.0.self_attn.out_proj.weight', 'decoder.actor_decoder.layers.1.linear1.bias', 'decoder.actor_decoder.layers.1.linear1.weight', 'decoder.actor_decoder.layers.1.linear2.bias', 'decoder.actor_decoder.layers.1.linear2.weight', 'decoder.actor_decoder.layers.1.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.1.multihead_attn.in_proj_weight', 'decoder.actor_decoder.layers.1.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.1.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.1.norm1.bias', 'decoder.actor_decoder.layers.1.norm1.weight', 'decoder.actor_decoder.layers.1.norm2.bias', 'decoder.actor_decoder.layers.1.norm2.weight', 'decoder.actor_decoder.layers.1.norm3.bias', 'decoder.actor_decoder.layers.1.norm3.weight', 'decoder.actor_decoder.layers.1.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.1.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.1.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.1.self_attn.out_proj.weight', 'decoder.actor_decoder.layers.2.linear1.bias', 'decoder.actor_decoder.layers.2.linear1.weight', 'decoder.actor_decoder.layers.2.linear2.bias', 'decoder.actor_decoder.layers.2.linear2.weight', 'decoder.actor_decoder.layers.2.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.2.multihead_attn.in_proj_weight', 'decoder.actor_decoder.layers.2.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.2.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.2.norm1.bias', 'decoder.actor_decoder.layers.2.norm1.weight', 'decoder.actor_decoder.layers.2.norm2.bias', 'decoder.actor_decoder.layers.2.norm2.weight', 'decoder.actor_decoder.layers.2.norm3.bias', 'decoder.actor_decoder.layers.2.norm3.weight', 'decoder.actor_decoder.layers.2.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.2.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.2.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.2.self_attn.out_proj.weight', 'decoder.actor_decoder.layers.3.linear1.bias', 'decoder.actor_decoder.layers.3.linear1.weight', 'decoder.actor_decoder.layers.3.linear2.bias', 'decoder.actor_decoder.layers.3.linear2.weight', 'decoder.actor_decoder.layers.3.multihead_attn.in_proj_bias', 'decoder.actor_decoder.layers.3.multihead_attn.in_proj_weight', 'decoder.actor_decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.actor_decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.actor_decoder.layers.3.norm1.bias', 'decoder.actor_decoder.layers.3.norm1.weight', 'decoder.actor_decoder.layers.3.norm2.bias', 'decoder.actor_decoder.layers.3.norm2.weight', 'decoder.actor_decoder.layers.3.norm3.bias', 'decoder.actor_decoder.layers.3.norm3.weight', 'decoder.actor_decoder.layers.3.self_attn.in_proj_bias', 'decoder.actor_decoder.layers.3.self_attn.in_proj_weight', 'decoder.actor_decoder.layers.3.self_attn.out_proj.bias', 'decoder.actor_decoder.layers.3.self_attn.out_proj.weight', 'decoder.actor_log_std.bias', 'decoder.actor_log_std.weight', 'decoder.actor_mean.bias', 'decoder.actor_mean.weight', 'decoder.actor_role_bias', 'decoder.coordination.0.bias', 'decoder.coordination.0.weight', 'decoder.coordination.1.bias', 'decoder.coordination.1.weight', 'decoder.coordination.3.bias', 'decoder.coordination.3.weight', 'decoder.revealer_decoder.layers.0.linear1.bias', 'decoder.revealer_decoder.layers.0.linear1.weight', 'decoder.revealer_decoder.layers.0.linear2.bias', 'decoder.revealer_decoder.layers.0.linear2.weight', 'decoder.revealer_decoder.layers.0.multihead_attn.in_proj_bias', 'decoder.revealer_decoder.layers.0.multihead_attn.in_proj_weight', 'decoder.revealer_decoder.layers.0.multihead_attn.out_proj.bias', 'decoder.revealer_decoder.layers.0.multihead_attn.out_proj.weight', 'decoder.revealer_decoder.layers.0.norm1.bias', 'decoder.revealer_decoder.layers.0.norm1.weight', 'decoder.revealer_decoder.layers.0.norm2.bias', 'decoder.revealer_decoder.layers.0.norm2.weight', 'decoder.revealer_decoder.layers.0.norm3.bias', 'decoder.revealer_decoder.layers.0.norm3.weight', 'decoder.revealer_decoder.layers.0.self_attn.in_proj_bias', 'decoder.revealer_decoder.layers.0.self_attn.in_proj_weight', 'decoder.revealer_decoder.layers.0.self_attn.out_proj.bias', 'decoder.revealer_decoder.layers.0.self_attn.out_proj.weight', 'decoder.revealer_decoder.layers.1.linear1.bias', 'decoder.revealer_decoder.layers.1.linear1.weight', 'decoder.revealer_decoder.layers.1.linear2.bias', 'decoder.revealer_decoder.layers.1.linear2.weight', 'decoder.revealer_decoder.layers.1.multihead_attn.in_proj_bias', 'decoder.revealer_decoder.layers.1.multihead_attn.in_proj_weight', 'decoder.revealer_decoder.layers.1.multihead_attn.out_proj.bias', 'decoder.revealer_decoder.layers.1.multihead_attn.out_proj.weight', 'decoder.revealer_decoder.layers.1.norm1.bias', 'decoder.revealer_decoder.layers.1.norm1.weight', 'decoder.revealer_decoder.layers.1.norm2.bias', 'decoder.revealer_decoder.layers.1.norm2.weight', 'decoder.revealer_decoder.layers.1.norm3.bias', 'decoder.revealer_decoder.layers.1.norm3.weight', 'decoder.revealer_decoder.layers.1.self_attn.in_proj_bias', 'decoder.revealer_decoder.layers.1.self_attn.in_proj_weight', 'decoder.revealer_decoder.layers.1.self_attn.out_proj.bias', 'decoder.revealer_decoder.layers.1.self_attn.out_proj.weight', 'decoder.revealer_decoder.layers.2.linear1.bias', 'decoder.revealer_decoder.layers.2.linear1.weight', 'decoder.revealer_decoder.layers.2.linear2.bias', 'decoder.revealer_decoder.layers.2.linear2.weight', 'decoder.revealer_decoder.layers.2.multihead_attn.in_proj_bias', 'decoder.revealer_decoder.layers.2.multihead_attn.in_proj_weight', 'decoder.revealer_decoder.layers.2.multihead_attn.out_proj.bias', 'decoder.revealer_decoder.layers.2.multihead_attn.out_proj.weight', 'decoder.revealer_decoder.layers.2.norm1.bias', 'decoder.revealer_decoder.layers.2.norm1.weight', 'decoder.revealer_decoder.layers.2.norm2.bias', 'decoder.revealer_decoder.layers.2.norm2.weight', 'decoder.revealer_decoder.layers.2.norm3.bias', 'decoder.revealer_decoder.layers.2.norm3.weight', 'decoder.revealer_decoder.layers.2.self_attn.in_proj_bias', 'decoder.revealer_decoder.layers.2.self_attn.in_proj_weight', 'decoder.revealer_decoder.layers.2.self_attn.out_proj.bias', 'decoder.revealer_decoder.layers.2.self_attn.out_proj.weight', 'decoder.revealer_decoder.layers.3.linear1.bias', 'decoder.revealer_decoder.layers.3.linear1.weight', 'decoder.revealer_decoder.layers.3.linear2.bias', 'decoder.revealer_decoder.layers.3.linear2.weight', 'decoder.revealer_decoder.layers.3.multihead_attn.in_proj_bias', 'decoder.revealer_decoder.layers.3.multihead_attn.in_proj_weight', 'decoder.revealer_decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.revealer_decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.revealer_decoder.layers.3.norm1.bias', 'decoder.revealer_decoder.layers.3.norm1.weight', 'decoder.revealer_decoder.layers.3.norm2.bias', 'decoder.revealer_decoder.layers.3.norm2.weight', 'decoder.revealer_decoder.layers.3.norm3.bias', 'decoder.revealer_decoder.layers.3.norm3.weight', 'decoder.revealer_decoder.layers.3.self_attn.in_proj_bias', 'decoder.revealer_decoder.layers.3.self_attn.in_proj_weight', 'decoder.revealer_decoder.layers.3.self_attn.out_proj.bias', 'decoder.revealer_decoder.layers.3.self_attn.out_proj.weight', 'decoder.revealer_log_std.bias', 'decoder.revealer_log_std.weight', 'decoder.revealer_mean.bias', 'decoder.revealer_mean.weight', 'fusion.geometry_fusion.attn.in_proj_bias', 'fusion.geometry_fusion.attn.in_proj_weight', 'fusion.geometry_fusion.attn.out_proj.bias', 'fusion.geometry_fusion.attn.out_proj.weight', 'fusion.geometry_fusion.gate.0.bias', 'fusion.geometry_fusion.gate.0.weight', 'fusion.geometry_fusion.gate.1.bias', 'fusion.geometry_fusion.gate.1.weight', 'fusion.geometry_fusion.gate.3.bias', 'fusion.geometry_fusion.gate.3.weight', 'fusion.geometry_fusion.out.0.bias', 'fusion.geometry_fusion.out.0.weight', 'fusion.geometry_fusion.out.1.bias', 'fusion.geometry_fusion.out.1.weight', 'memory.gru.bias_hh_l0', 'memory.gru.bias_ih_l0', 'memory.gru.weight_hh_l0', 'memory.gru.weight_ih_l0', 'memory.token_proj.0.bias', 'memory.token_proj.0.weight', 'memory.token_proj.1.bias', 'memory.token_proj.1.weight', 'memory.uncertainty_head.0.bias', 'memory.uncertainty_head.0.weight', 'memory.uncertainty_head.1.bias', 'memory.uncertainty_head.1.weight', 'planner.risk_head.bias', 'planner.risk_head.weight', 'planner.success_head.bias', 'planner.success_head.weight', 'planner.trunk.0.bias', 'planner.trunk.0.weight', 'planner.trunk.1.bias', 'planner.trunk.1.weight', 'planner.trunk.3.bias', 'planner.trunk.3.weight', 'reveal_head.access_field.bias', 'reveal_head.access_field.weight', 'reveal_head.disturbance_field.bias', 'reveal_head.disturbance_field.weight', 'reveal_head.field_attention.in_proj_bias', 'reveal_head.field_attention.in_proj_weight', 'reveal_head.field_attention.out_proj.bias', 'reveal_head.field_attention.out_proj.weight', 'reveal_head.field_mlp.0.bias', 'reveal_head.field_mlp.0.weight', 'reveal_head.field_mlp.1.bias', 'reveal_head.field_mlp.1.weight', 'reveal_head.field_mlp.3.bias', 'reveal_head.field_mlp.3.weight', 'reveal_head.field_queries', 'reveal_head.latent_summary.0.bias', 'reveal_head.latent_summary.0.weight', 'reveal_head.latent_summary.1.bias', 'reveal_head.latent_summary.1.weight', 'reveal_head.persistence_field.bias', 'reveal_head.persistence_field.weight', 'reveal_head.reocclusion_head.0.bias', 'reveal_head.reocclusion_head.0.weight', 'reveal_head.reocclusion_head.1.bias', 'reveal_head.reocclusion_head.1.weight', 'reveal_head.reocclusion_head.3.bias', 'reveal_head.reocclusion_head.3.weight', 'reveal_head.support_mode.0.bias', 'reveal_head.support_mode.0.weight', 'reveal_head.support_mode.1.bias', 'reveal_head.support_mode.1.weight', 'reveal_head.support_mode.3.bias', 'reveal_head.support_mode.3.weight', 'reveal_head.uncertainty_field.bias', 'reveal_head.uncertainty_field.weight', 'world_model.reocclusion.bias', 'world_model.reocclusion.weight', 'world_model.uncertainty.bias', 'world_model.uncertainty.weight']. Unexpected keys: ['decoder.decoder.layers.0.self_attn.in_proj_weight', 'decoder.decoder.layers.0.self_attn.in_proj_bias', 'decoder.decoder.layers.0.self_attn.out_proj.weight', 'decoder.decoder.layers.0.self_attn.out_proj.bias', 'decoder.decoder.layers.0.multihead_attn.in_proj_weight', 'decoder.decoder.layers.0.multihead_attn.in_proj_bias', 'decoder.decoder.layers.0.multihead_attn.out_proj.weight', 'decoder.decoder.layers.0.multihead_attn.out_proj.bias', 'decoder.decoder.layers.0.linear1.weight', 'decoder.decoder.layers.0.linear1.bias', 'decoder.decoder.layers.0.linear2.weight', 'decoder.decoder.layers.0.linear2.bias', 'decoder.decoder.layers.0.norm1.weight', 'decoder.decoder.layers.0.norm1.bias', 'decoder.decoder.layers.0.norm2.weight', 'decoder.decoder.layers.0.norm2.bias', 'decoder.decoder.layers.0.norm3.weight', 'decoder.decoder.layers.0.norm3.bias', 'decoder.decoder.layers.1.self_attn.in_proj_weight', 'decoder.decoder.layers.1.self_attn.in_proj_bias', 'decoder.decoder.layers.1.self_attn.out_proj.weight', 'decoder.decoder.layers.1.self_attn.out_proj.bias', 'decoder.decoder.layers.1.multihead_attn.in_proj_weight', 'decoder.decoder.layers.1.multihead_attn.in_proj_bias', 'decoder.decoder.layers.1.multihead_attn.out_proj.weight', 'decoder.decoder.layers.1.multihead_attn.out_proj.bias', 'decoder.decoder.layers.1.linear1.weight', 'decoder.decoder.layers.1.linear1.bias', 'decoder.decoder.layers.1.linear2.weight', 'decoder.decoder.layers.1.linear2.bias', 'decoder.decoder.layers.1.norm1.weight', 'decoder.decoder.layers.1.norm1.bias', 'decoder.decoder.layers.1.norm2.weight', 'decoder.decoder.layers.1.norm2.bias', 'decoder.decoder.layers.1.norm3.weight', 'decoder.decoder.layers.1.norm3.bias', 'decoder.decoder.layers.2.self_attn.in_proj_weight', 'decoder.decoder.layers.2.self_attn.in_proj_bias', 'decoder.decoder.layers.2.self_attn.out_proj.weight', 'decoder.decoder.layers.2.self_attn.out_proj.bias', 'decoder.decoder.layers.2.multihead_attn.in_proj_weight', 'decoder.decoder.layers.2.multihead_attn.in_proj_bias', 'decoder.decoder.layers.2.multihead_attn.out_proj.weight', 'decoder.decoder.layers.2.multihead_attn.out_proj.bias', 'decoder.decoder.layers.2.linear1.weight', 'decoder.decoder.layers.2.linear1.bias', 'decoder.decoder.layers.2.linear2.weight', 'decoder.decoder.layers.2.linear2.bias', 'decoder.decoder.layers.2.norm1.weight', 'decoder.decoder.layers.2.norm1.bias', 'decoder.decoder.layers.2.norm2.weight', 'decoder.decoder.layers.2.norm2.bias', 'decoder.decoder.layers.2.norm3.weight', 'decoder.decoder.layers.2.norm3.bias', 'decoder.decoder.layers.3.self_attn.in_proj_weight', 'decoder.decoder.layers.3.self_attn.in_proj_bias', 'decoder.decoder.layers.3.self_attn.out_proj.weight', 'decoder.decoder.layers.3.self_attn.out_proj.bias', 'decoder.decoder.layers.3.multihead_attn.in_proj_weight', 'decoder.decoder.layers.3.multihead_attn.in_proj_bias', 'decoder.decoder.layers.3.multihead_attn.out_proj.weight', 'decoder.decoder.layers.3.multihead_attn.out_proj.bias', 'decoder.decoder.layers.3.linear1.weight', 'decoder.decoder.layers.3.linear1.bias', 'decoder.decoder.layers.3.linear2.weight', 'decoder.decoder.layers.3.linear2.bias', 'decoder.decoder.layers.3.norm1.weight', 'decoder.decoder.layers.3.norm1.bias', 'decoder.decoder.layers.3.norm2.weight', 'decoder.decoder.layers.3.norm2.bias', 'decoder.decoder.layers.3.norm3.weight', 'decoder.decoder.layers.3.norm3.bias', 'decoder.action_mean.weight', 'decoder.action_mean.bias', 'decoder.action_log_std.weight', 'decoder.action_log_std.bias', 'reveal_head.trunk.0.weight', 'reveal_head.trunk.0.bias', 'reveal_head.trunk.1.weight', 'reveal_head.trunk.1.bias', 'reveal_head.corridor.weight', 'reveal_head.corridor.bias', 'reveal_head.persistence.weight', 'reveal_head.persistence.bias', 'reveal_head.disturbance.weight', 'reveal_head.disturbance.bias', 'reveal_head.belief_map.weight', 'reveal_head.belief_map.bias', 'reveal_head.support_mode.weight', 'reveal_head.support_mode.bias'] diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_push_box/stdout.txt b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/rollout_eval.json b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..c39d9d8df905ef11ad09a15522dcdf8544161880 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/rollout_eval.json @@ -0,0 +1,44 @@ +{ + "checkpoint": "/workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_lift_ball": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_push_box": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [ + "bimanual_dual_push_buttons", + "bimanual_lift_ball", + "bimanual_push_box" + ], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/rollout_eval.md b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..08ca20485bbc87606cc47da211049ee1a21f2cf1 --- /dev/null +++ b/artifacts/reports/rlbench_subset3_reveal_state_clip_probe_v2/subset3_reveal_state_clip_plan_split/rollout_eval.md @@ -0,0 +1,21 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/rlbench_custom/rlbench_subset3_reveal_state_clip/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `['bimanual_dual_push_buttons', 'bimanual_lift_ball', 'bimanual_push_box']` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1