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- artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/rollout_eval.json +0 -0
- artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/rollout_eval.md +31 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json +413 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt +414 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/rollout_eval.json +413 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/stdout.txt +414 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/rollout_eval.json +413 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/stdout.txt +414 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json +413 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/stdout.txt +414 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/rollout_eval.json +413 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/stderr.txt +6 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/stdout.txt +414 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/rollout_eval.json +413 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/stderr.txt +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/stdout.txt +414 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/rollout_eval.json +413 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/stdout.txt +414 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/rollout_eval.json +413 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/stdout.txt +414 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.json +413 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.md +14 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/stderr.txt +4 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/stdout.txt +415 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/command.txt +1 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/rollout_eval.json +413 -0
- artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/rollout_eval.md +14 -0
artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/rollout_eval.json
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artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/rollout_eval.md
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# PerAct2 13-Task Rollout Sweep
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- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt`
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- Plan requested: `True`
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- Plan applied: `True`
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- Episodes per task: `1`
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- Episode length: `20`
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- Resolution: `224`
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- No planner: `False`
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- Disable task conditioning: `False`
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- No geometry: `False`
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- Compact world model: `False`
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- Task count: `13`
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- Error tasks: `[]`
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- Mean success: `0.000`
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## Per-task
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- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_pick_plate`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_put_item_in_drawer`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_put_bottle_in_fridge`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_handover_item`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_pick_laptop`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_straighten_rope`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_sweep_to_dustpan`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_lift_tray`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_handover_item_easy`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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- `bimanual_take_tray_out_of_oven`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0]
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artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/command.txt
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/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_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 --allow-unsupervised-planning
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artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json
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{
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| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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"task_conditioning": true,
|
| 8 |
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"geometry_enabled": true,
|
| 9 |
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"world_model_mode": "checkpoint_default",
|
| 10 |
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|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_dual_push_buttons": {
|
| 21 |
+
"task_class": "BimanualDualPushButtons",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "push the olive and the orange buttons",
|
| 40 |
+
"steps": [
|
| 41 |
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{
|
| 42 |
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|
| 43 |
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| 44 |
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|
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|
| 56 |
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|
| 57 |
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|
| 58 |
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},
|
| 59 |
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{
|
| 60 |
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|
| 61 |
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| 62 |
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|
| 71 |
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| 72 |
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|
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|
| 74 |
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|
| 75 |
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|
| 76 |
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},
|
| 77 |
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{
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 89 |
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| 90 |
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"predicted_reocclusion": null,
|
| 91 |
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|
| 92 |
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|
| 93 |
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"noop_fallbacks": 0
|
| 94 |
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},
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| 95 |
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{
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| 96 |
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"timestep": 3,
|
| 97 |
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| 110 |
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|
| 111 |
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|
| 112 |
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},
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| 113 |
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{
|
| 114 |
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|
| 115 |
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|
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|
| 128 |
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|
| 129 |
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| 130 |
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},
|
| 131 |
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{
|
| 132 |
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"timestep": 5,
|
| 133 |
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| 143 |
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],
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| 144 |
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"predicted_reocclusion": null,
|
| 145 |
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"support_mode_conditioning": true,
|
| 146 |
+
"path_recoveries": 0,
|
| 147 |
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"noop_fallbacks": 0
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
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"timestep": 6,
|
| 151 |
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"chosen_macro_mode": null,
|
| 152 |
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"planner_scores": [
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|
| 161 |
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],
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| 162 |
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"predicted_reocclusion": null,
|
| 163 |
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"support_mode_conditioning": true,
|
| 164 |
+
"path_recoveries": 0,
|
| 165 |
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"noop_fallbacks": 0
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
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"timestep": 7,
|
| 169 |
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"chosen_macro_mode": null,
|
| 170 |
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"planner_scores": [
|
| 171 |
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| 172 |
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| 176 |
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|
| 177 |
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|
| 178 |
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0.0
|
| 179 |
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],
|
| 180 |
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"predicted_reocclusion": null,
|
| 181 |
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"support_mode_conditioning": true,
|
| 182 |
+
"path_recoveries": 0,
|
| 183 |
+
"noop_fallbacks": 0
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
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"timestep": 8,
|
| 187 |
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"chosen_macro_mode": null,
|
| 188 |
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"planner_scores": [
|
| 189 |
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0.0,
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| 190 |
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| 194 |
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| 195 |
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|
| 196 |
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0.0
|
| 197 |
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],
|
| 198 |
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"predicted_reocclusion": null,
|
| 199 |
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"support_mode_conditioning": true,
|
| 200 |
+
"path_recoveries": 0,
|
| 201 |
+
"noop_fallbacks": 0
|
| 202 |
+
},
|
| 203 |
+
{
|
| 204 |
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"timestep": 9,
|
| 205 |
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"chosen_macro_mode": null,
|
| 206 |
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"planner_scores": [
|
| 207 |
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| 213 |
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| 214 |
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|
| 215 |
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],
|
| 216 |
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"predicted_reocclusion": null,
|
| 217 |
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"support_mode_conditioning": true,
|
| 218 |
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"path_recoveries": 0,
|
| 219 |
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"noop_fallbacks": 0
|
| 220 |
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},
|
| 221 |
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{
|
| 222 |
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"timestep": 10,
|
| 223 |
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"chosen_macro_mode": null,
|
| 224 |
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| 225 |
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| 230 |
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| 231 |
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|
| 232 |
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|
| 233 |
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],
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| 234 |
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"predicted_reocclusion": null,
|
| 235 |
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"support_mode_conditioning": true,
|
| 236 |
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"path_recoveries": 0,
|
| 237 |
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"noop_fallbacks": 0
|
| 238 |
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},
|
| 239 |
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{
|
| 240 |
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"timestep": 11,
|
| 241 |
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|
| 242 |
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"planner_scores": [
|
| 243 |
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| 244 |
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| 245 |
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|
| 247 |
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|
| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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],
|
| 252 |
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|
| 253 |
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"support_mode_conditioning": true,
|
| 254 |
+
"path_recoveries": 0,
|
| 255 |
+
"noop_fallbacks": 0
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
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"timestep": 12,
|
| 259 |
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"chosen_macro_mode": null,
|
| 260 |
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"planner_scores": [
|
| 261 |
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0.0,
|
| 262 |
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|
| 263 |
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|
| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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0.0,
|
| 268 |
+
0.0
|
| 269 |
+
],
|
| 270 |
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"predicted_reocclusion": null,
|
| 271 |
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"support_mode_conditioning": true,
|
| 272 |
+
"path_recoveries": 0,
|
| 273 |
+
"noop_fallbacks": 0
|
| 274 |
+
},
|
| 275 |
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{
|
| 276 |
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"timestep": 13,
|
| 277 |
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"chosen_macro_mode": null,
|
| 278 |
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"planner_scores": [
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| 279 |
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| 282 |
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|
| 284 |
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|
| 285 |
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|
| 286 |
+
0.0
|
| 287 |
+
],
|
| 288 |
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"predicted_reocclusion": null,
|
| 289 |
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"support_mode_conditioning": true,
|
| 290 |
+
"path_recoveries": 0,
|
| 291 |
+
"noop_fallbacks": 0
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
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"timestep": 14,
|
| 295 |
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"chosen_macro_mode": null,
|
| 296 |
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"planner_scores": [
|
| 297 |
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0.0,
|
| 298 |
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0.0,
|
| 299 |
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|
| 300 |
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0.0,
|
| 301 |
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0.0,
|
| 302 |
+
0.0,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0
|
| 305 |
+
],
|
| 306 |
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"predicted_reocclusion": null,
|
| 307 |
+
"support_mode_conditioning": true,
|
| 308 |
+
"path_recoveries": 0,
|
| 309 |
+
"noop_fallbacks": 0
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"timestep": 15,
|
| 313 |
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"chosen_macro_mode": null,
|
| 314 |
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"planner_scores": [
|
| 315 |
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0.0,
|
| 316 |
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0.0,
|
| 317 |
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|
| 318 |
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0.0,
|
| 319 |
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0.0,
|
| 320 |
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0.0,
|
| 321 |
+
0.0,
|
| 322 |
+
0.0
|
| 323 |
+
],
|
| 324 |
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"predicted_reocclusion": null,
|
| 325 |
+
"support_mode_conditioning": true,
|
| 326 |
+
"path_recoveries": 0,
|
| 327 |
+
"noop_fallbacks": 0
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"timestep": 16,
|
| 331 |
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"chosen_macro_mode": null,
|
| 332 |
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"planner_scores": [
|
| 333 |
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0.0,
|
| 334 |
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0.0,
|
| 335 |
+
0.0,
|
| 336 |
+
0.0,
|
| 337 |
+
0.0,
|
| 338 |
+
0.0,
|
| 339 |
+
0.0,
|
| 340 |
+
0.0
|
| 341 |
+
],
|
| 342 |
+
"predicted_reocclusion": null,
|
| 343 |
+
"support_mode_conditioning": true,
|
| 344 |
+
"path_recoveries": 0,
|
| 345 |
+
"noop_fallbacks": 0
|
| 346 |
+
},
|
| 347 |
+
{
|
| 348 |
+
"timestep": 17,
|
| 349 |
+
"chosen_macro_mode": null,
|
| 350 |
+
"planner_scores": [
|
| 351 |
+
0.0,
|
| 352 |
+
0.0,
|
| 353 |
+
0.0,
|
| 354 |
+
0.0,
|
| 355 |
+
0.0,
|
| 356 |
+
0.0,
|
| 357 |
+
0.0,
|
| 358 |
+
0.0
|
| 359 |
+
],
|
| 360 |
+
"predicted_reocclusion": null,
|
| 361 |
+
"support_mode_conditioning": true,
|
| 362 |
+
"path_recoveries": 0,
|
| 363 |
+
"noop_fallbacks": 0
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"timestep": 18,
|
| 367 |
+
"chosen_macro_mode": null,
|
| 368 |
+
"planner_scores": [
|
| 369 |
+
0.0,
|
| 370 |
+
0.0,
|
| 371 |
+
0.0,
|
| 372 |
+
0.0,
|
| 373 |
+
0.0,
|
| 374 |
+
0.0,
|
| 375 |
+
0.0,
|
| 376 |
+
0.0
|
| 377 |
+
],
|
| 378 |
+
"predicted_reocclusion": null,
|
| 379 |
+
"support_mode_conditioning": true,
|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
+
0.0,
|
| 388 |
+
0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
+
0.0
|
| 395 |
+
],
|
| 396 |
+
"predicted_reocclusion": null,
|
| 397 |
+
"support_mode_conditioning": true,
|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt
ADDED
|
@@ -0,0 +1,414 @@
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_dual_push_buttons": {
|
| 21 |
+
"task_class": "BimanualDualPushButtons",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "push the olive and the orange buttons",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": null,
|
| 44 |
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"planner_scores": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
+
0.0,
|
| 51 |
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|
| 52 |
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0.0
|
| 53 |
+
],
|
| 54 |
+
"predicted_reocclusion": null,
|
| 55 |
+
"support_mode_conditioning": true,
|
| 56 |
+
"path_recoveries": 0,
|
| 57 |
+
"noop_fallbacks": 0
|
| 58 |
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},
|
| 59 |
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{
|
| 60 |
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"timestep": 1,
|
| 61 |
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"chosen_macro_mode": null,
|
| 62 |
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"planner_scores": [
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
+
0.0,
|
| 70 |
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0.0
|
| 71 |
+
],
|
| 72 |
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"predicted_reocclusion": null,
|
| 73 |
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"support_mode_conditioning": true,
|
| 74 |
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"path_recoveries": 0,
|
| 75 |
+
"noop_fallbacks": 0
|
| 76 |
+
},
|
| 77 |
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{
|
| 78 |
+
"timestep": 2,
|
| 79 |
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"chosen_macro_mode": null,
|
| 80 |
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"planner_scores": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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],
|
| 90 |
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|
| 91 |
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|
| 92 |
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|
| 93 |
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|
| 94 |
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},
|
| 95 |
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{
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
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|
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|
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|
| 107 |
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|
| 108 |
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|
| 109 |
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"support_mode_conditioning": true,
|
| 110 |
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|
| 111 |
+
"noop_fallbacks": 0
|
| 112 |
+
},
|
| 113 |
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{
|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
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|
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|
| 125 |
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],
|
| 126 |
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"predicted_reocclusion": null,
|
| 127 |
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"support_mode_conditioning": true,
|
| 128 |
+
"path_recoveries": 0,
|
| 129 |
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"noop_fallbacks": 0
|
| 130 |
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},
|
| 131 |
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{
|
| 132 |
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"timestep": 5,
|
| 133 |
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|
| 134 |
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|
| 135 |
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|
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],
|
| 144 |
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|
| 145 |
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"support_mode_conditioning": true,
|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
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|
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|
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|
| 166 |
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},
|
| 167 |
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{
|
| 168 |
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|
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|
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|
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|
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|
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|
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|
| 184 |
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|
| 185 |
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|
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|
| 187 |
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|
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 273 |
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|
| 274 |
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|
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|
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|
| 364 |
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| 365 |
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|
| 367 |
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| 381 |
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|
| 382 |
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|
| 383 |
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|
| 384 |
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|
| 385 |
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|
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|
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|
| 398 |
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|
| 399 |
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|
| 400 |
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|
| 401 |
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|
| 402 |
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|
| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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}
|
| 407 |
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],
|
| 408 |
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|
| 409 |
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"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
| 414 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item --tasks bimanual_handover_item --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/rollout_eval.json
ADDED
|
@@ -0,0 +1,413 @@
|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_handover_item": {
|
| 21 |
+
"task_class": "BimanualHandoverItem",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
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|
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| 373 |
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| 374 |
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| 375 |
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| 376 |
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|
| 377 |
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| 378 |
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| 380 |
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| 381 |
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|
| 382 |
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|
| 383 |
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{
|
| 384 |
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|
| 385 |
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|
| 386 |
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|
| 387 |
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|
| 388 |
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|
| 389 |
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0.0,
|
| 390 |
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0.0,
|
| 391 |
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0.0,
|
| 392 |
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0.0,
|
| 393 |
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0.0,
|
| 394 |
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0.0
|
| 395 |
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|
| 396 |
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|
| 397 |
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|
| 398 |
+
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|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_handover_item`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/stdout.txt
ADDED
|
@@ -0,0 +1,414 @@
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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| 1 |
+
{
|
| 2 |
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| 11 |
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| 12 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 32 |
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| 35 |
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| 37 |
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| 272 |
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|
| 273 |
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| 274 |
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|
| 364 |
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|
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|
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|
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|
| 381 |
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|
| 382 |
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|
| 383 |
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|
| 384 |
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|
| 385 |
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|
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|
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|
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|
| 398 |
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|
| 399 |
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|
| 400 |
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|
| 401 |
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|
| 402 |
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|
| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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}
|
| 407 |
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],
|
| 408 |
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"mean_success": 0.0,
|
| 409 |
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"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
| 414 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_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 --allow-unsupervised-planning
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/rollout_eval.json
ADDED
|
@@ -0,0 +1,413 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
|
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|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_handover_item_easy": {
|
| 21 |
+
"task_class": "BimanualHandoverItemEasy",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "bring me the item",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": null,
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
0.0,
|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
0.0,
|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"predicted_reocclusion": null,
|
| 55 |
+
"support_mode_conditioning": true,
|
| 56 |
+
"path_recoveries": 0,
|
| 57 |
+
"noop_fallbacks": 0
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"timestep": 1,
|
| 61 |
+
"chosen_macro_mode": null,
|
| 62 |
+
"planner_scores": [
|
| 63 |
+
0.0,
|
| 64 |
+
0.0,
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0,
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.0
|
| 71 |
+
],
|
| 72 |
+
"predicted_reocclusion": null,
|
| 73 |
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| 344 |
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| 347 |
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| 348 |
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|
| 349 |
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|
| 350 |
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| 357 |
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| 361 |
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|
| 362 |
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|
| 363 |
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|
| 364 |
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| 365 |
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|
| 366 |
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|
| 367 |
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| 368 |
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| 369 |
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| 372 |
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|
| 373 |
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0.0,
|
| 374 |
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0.0,
|
| 375 |
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0.0,
|
| 376 |
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0.0
|
| 377 |
+
],
|
| 378 |
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|
| 379 |
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|
| 380 |
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|
| 381 |
+
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|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
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|
| 385 |
+
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|
| 386 |
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|
| 387 |
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0.0,
|
| 388 |
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0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
+
0.0
|
| 395 |
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],
|
| 396 |
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|
| 397 |
+
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|
| 398 |
+
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|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_handover_item_easy`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/stdout.txt
ADDED
|
@@ -0,0 +1,414 @@
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|
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|
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|
|
|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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| 1 |
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| 2 |
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| 301 |
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| 302 |
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| 303 |
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| 304 |
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|
| 305 |
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|
| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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|
| 311 |
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|
| 312 |
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|
| 313 |
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| 314 |
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| 326 |
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|
| 327 |
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|
| 328 |
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|
| 329 |
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{
|
| 330 |
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|
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|
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|
| 344 |
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|
| 345 |
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|
| 346 |
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},
|
| 347 |
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{
|
| 348 |
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|
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|
| 350 |
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|
| 361 |
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|
| 362 |
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|
| 363 |
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"noop_fallbacks": 0
|
| 364 |
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},
|
| 365 |
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{
|
| 366 |
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"timestep": 18,
|
| 367 |
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|
| 368 |
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|
| 369 |
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| 377 |
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|
| 378 |
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|
| 379 |
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|
| 380 |
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|
| 381 |
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|
| 382 |
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},
|
| 383 |
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{
|
| 384 |
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"timestep": 19,
|
| 385 |
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|
| 386 |
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|
| 387 |
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|
| 388 |
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| 389 |
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|
| 390 |
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|
| 391 |
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|
| 392 |
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|
| 393 |
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0.0,
|
| 394 |
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|
| 395 |
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],
|
| 396 |
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"predicted_reocclusion": null,
|
| 397 |
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|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
| 414 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json
ADDED
|
@@ -0,0 +1,413 @@
|
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|
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|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_lift_ball": {
|
| 21 |
+
"task_class": "BimanualLiftBall",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "Lift the ball",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": null,
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
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|
| 46 |
+
0.0,
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
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|
| 50 |
+
0.0,
|
| 51 |
+
0.0,
|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"predicted_reocclusion": null,
|
| 55 |
+
"support_mode_conditioning": true,
|
| 56 |
+
"path_recoveries": 0,
|
| 57 |
+
"noop_fallbacks": 0
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"timestep": 1,
|
| 61 |
+
"chosen_macro_mode": null,
|
| 62 |
+
"planner_scores": [
|
| 63 |
+
0.0,
|
| 64 |
+
0.0,
|
| 65 |
+
0.0,
|
| 66 |
+
0.0,
|
| 67 |
+
0.0,
|
| 68 |
+
0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.0
|
| 71 |
+
],
|
| 72 |
+
"predicted_reocclusion": null,
|
| 73 |
+
"support_mode_conditioning": true,
|
| 74 |
+
"path_recoveries": 0,
|
| 75 |
+
"noop_fallbacks": 0
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"timestep": 2,
|
| 79 |
+
"chosen_macro_mode": null,
|
| 80 |
+
"planner_scores": [
|
| 81 |
+
0.0,
|
| 82 |
+
0.0,
|
| 83 |
+
0.0,
|
| 84 |
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0.0,
|
| 85 |
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0.0,
|
| 86 |
+
0.0,
|
| 87 |
+
0.0,
|
| 88 |
+
0.0
|
| 89 |
+
],
|
| 90 |
+
"predicted_reocclusion": null,
|
| 91 |
+
"support_mode_conditioning": true,
|
| 92 |
+
"path_recoveries": 0,
|
| 93 |
+
"noop_fallbacks": 0
|
| 94 |
+
},
|
| 95 |
+
{
|
| 96 |
+
"timestep": 3,
|
| 97 |
+
"chosen_macro_mode": null,
|
| 98 |
+
"planner_scores": [
|
| 99 |
+
0.0,
|
| 100 |
+
0.0,
|
| 101 |
+
0.0,
|
| 102 |
+
0.0,
|
| 103 |
+
0.0,
|
| 104 |
+
0.0,
|
| 105 |
+
0.0,
|
| 106 |
+
0.0
|
| 107 |
+
],
|
| 108 |
+
"predicted_reocclusion": null,
|
| 109 |
+
"support_mode_conditioning": true,
|
| 110 |
+
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|
| 111 |
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|
| 112 |
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},
|
| 113 |
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{
|
| 114 |
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|
| 115 |
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|
| 116 |
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| 117 |
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| 125 |
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|
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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{
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| 147 |
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|
| 148 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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| 167 |
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{
|
| 168 |
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| 169 |
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|
| 182 |
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|
| 183 |
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"noop_fallbacks": 0
|
| 184 |
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},
|
| 185 |
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{
|
| 186 |
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|
| 187 |
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| 188 |
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|
| 197 |
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],
|
| 198 |
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"predicted_reocclusion": null,
|
| 199 |
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"support_mode_conditioning": true,
|
| 200 |
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"path_recoveries": 0,
|
| 201 |
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"noop_fallbacks": 0
|
| 202 |
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},
|
| 203 |
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{
|
| 204 |
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"timestep": 9,
|
| 205 |
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| 206 |
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| 207 |
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| 212 |
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| 213 |
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| 214 |
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| 215 |
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],
|
| 216 |
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"predicted_reocclusion": null,
|
| 217 |
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"support_mode_conditioning": true,
|
| 218 |
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"path_recoveries": 0,
|
| 219 |
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"noop_fallbacks": 0
|
| 220 |
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},
|
| 221 |
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{
|
| 222 |
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"timestep": 10,
|
| 223 |
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"chosen_macro_mode": null,
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| 224 |
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"planner_scores": [
|
| 225 |
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0.0,
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| 230 |
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| 231 |
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| 236 |
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| 238 |
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| 239 |
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{
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| 240 |
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| 243 |
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| 252 |
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|
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|
| 254 |
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|
| 255 |
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"noop_fallbacks": 0
|
| 256 |
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},
|
| 257 |
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{
|
| 258 |
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"timestep": 12,
|
| 259 |
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|
| 260 |
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"planner_scores": [
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|
| 269 |
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| 270 |
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|
| 271 |
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"support_mode_conditioning": true,
|
| 272 |
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"path_recoveries": 0,
|
| 273 |
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"noop_fallbacks": 0
|
| 274 |
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},
|
| 275 |
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{
|
| 276 |
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| 277 |
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| 278 |
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| 285 |
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0.0,
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| 286 |
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0.0
|
| 287 |
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],
|
| 288 |
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"predicted_reocclusion": null,
|
| 289 |
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"support_mode_conditioning": true,
|
| 290 |
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"path_recoveries": 0,
|
| 291 |
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"noop_fallbacks": 0
|
| 292 |
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},
|
| 293 |
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{
|
| 294 |
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|
| 295 |
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| 296 |
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| 297 |
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| 301 |
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| 302 |
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| 305 |
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],
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| 306 |
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|
| 307 |
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|
| 308 |
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|
| 309 |
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|
| 310 |
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| 311 |
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{
|
| 312 |
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|
| 313 |
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|
| 314 |
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| 315 |
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| 321 |
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| 324 |
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|
| 326 |
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|
| 327 |
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"noop_fallbacks": 0
|
| 328 |
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},
|
| 329 |
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{
|
| 330 |
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|
| 331 |
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|
| 332 |
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|
| 333 |
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| 334 |
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| 337 |
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| 338 |
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| 339 |
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|
| 340 |
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|
| 341 |
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],
|
| 342 |
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|
| 343 |
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"support_mode_conditioning": true,
|
| 344 |
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"path_recoveries": 0,
|
| 345 |
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"noop_fallbacks": 0
|
| 346 |
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},
|
| 347 |
+
{
|
| 348 |
+
"timestep": 17,
|
| 349 |
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"chosen_macro_mode": null,
|
| 350 |
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"planner_scores": [
|
| 351 |
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0.0,
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| 353 |
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0.0,
|
| 354 |
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|
| 355 |
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|
| 356 |
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0.0,
|
| 357 |
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0.0,
|
| 358 |
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0.0
|
| 359 |
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],
|
| 360 |
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|
| 361 |
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"support_mode_conditioning": true,
|
| 362 |
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"path_recoveries": 0,
|
| 363 |
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"noop_fallbacks": 0
|
| 364 |
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},
|
| 365 |
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{
|
| 366 |
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"timestep": 18,
|
| 367 |
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|
| 368 |
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|
| 369 |
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0.0,
|
| 370 |
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0.0,
|
| 371 |
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0.0,
|
| 372 |
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0.0,
|
| 373 |
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0.0,
|
| 374 |
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0.0,
|
| 375 |
+
0.0,
|
| 376 |
+
0.0
|
| 377 |
+
],
|
| 378 |
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"predicted_reocclusion": null,
|
| 379 |
+
"support_mode_conditioning": true,
|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
+
0.0,
|
| 388 |
+
0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
+
0.0
|
| 395 |
+
],
|
| 396 |
+
"predicted_reocclusion": null,
|
| 397 |
+
"support_mode_conditioning": true,
|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/stdout.txt
ADDED
|
@@ -0,0 +1,414 @@
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
|
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|
|
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|
|
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|
|
|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
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| 1 |
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| 2 |
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+
0.0,
|
| 340 |
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0.0
|
| 341 |
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],
|
| 342 |
+
"predicted_reocclusion": null,
|
| 343 |
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"support_mode_conditioning": true,
|
| 344 |
+
"path_recoveries": 0,
|
| 345 |
+
"noop_fallbacks": 0
|
| 346 |
+
},
|
| 347 |
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{
|
| 348 |
+
"timestep": 17,
|
| 349 |
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"chosen_macro_mode": null,
|
| 350 |
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"planner_scores": [
|
| 351 |
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| 352 |
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| 357 |
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| 358 |
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| 359 |
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],
|
| 360 |
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"predicted_reocclusion": null,
|
| 361 |
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"support_mode_conditioning": true,
|
| 362 |
+
"path_recoveries": 0,
|
| 363 |
+
"noop_fallbacks": 0
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"timestep": 18,
|
| 367 |
+
"chosen_macro_mode": null,
|
| 368 |
+
"planner_scores": [
|
| 369 |
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0.0,
|
| 370 |
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|
| 371 |
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|
| 372 |
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|
| 373 |
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|
| 374 |
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|
| 375 |
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0.0,
|
| 376 |
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0.0
|
| 377 |
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],
|
| 378 |
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"predicted_reocclusion": null,
|
| 379 |
+
"support_mode_conditioning": true,
|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
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0.0,
|
| 388 |
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0.0,
|
| 389 |
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0.0,
|
| 390 |
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0.0,
|
| 391 |
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0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
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0.0
|
| 395 |
+
],
|
| 396 |
+
"predicted_reocclusion": null,
|
| 397 |
+
"support_mode_conditioning": true,
|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
| 414 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray --tasks bimanual_lift_tray --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/rollout_eval.json
ADDED
|
@@ -0,0 +1,413 @@
|
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|
|
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|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_lift_tray": {
|
| 21 |
+
"task_class": "BimanualLiftTray",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "Lift the tray",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": null,
|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"predicted_reocclusion": null,
|
| 55 |
+
"support_mode_conditioning": true,
|
| 56 |
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"path_recoveries": 0,
|
| 57 |
+
"noop_fallbacks": 0
|
| 58 |
+
},
|
| 59 |
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{
|
| 60 |
+
"timestep": 1,
|
| 61 |
+
"chosen_macro_mode": null,
|
| 62 |
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"planner_scores": [
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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0.0,
|
| 70 |
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0.0
|
| 71 |
+
],
|
| 72 |
+
"predicted_reocclusion": null,
|
| 73 |
+
"support_mode_conditioning": true,
|
| 74 |
+
"path_recoveries": 0,
|
| 75 |
+
"noop_fallbacks": 0
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"timestep": 2,
|
| 79 |
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"chosen_macro_mode": null,
|
| 80 |
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"planner_scores": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
+
],
|
| 90 |
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"predicted_reocclusion": null,
|
| 91 |
+
"support_mode_conditioning": true,
|
| 92 |
+
"path_recoveries": 0,
|
| 93 |
+
"noop_fallbacks": 0
|
| 94 |
+
},
|
| 95 |
+
{
|
| 96 |
+
"timestep": 3,
|
| 97 |
+
"chosen_macro_mode": null,
|
| 98 |
+
"planner_scores": [
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
+
],
|
| 108 |
+
"predicted_reocclusion": null,
|
| 109 |
+
"support_mode_conditioning": true,
|
| 110 |
+
"path_recoveries": 0,
|
| 111 |
+
"noop_fallbacks": 0
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"timestep": 4,
|
| 115 |
+
"chosen_macro_mode": null,
|
| 116 |
+
"planner_scores": [
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
+
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|
| 123 |
+
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|
| 124 |
+
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|
| 125 |
+
],
|
| 126 |
+
"predicted_reocclusion": null,
|
| 127 |
+
"support_mode_conditioning": true,
|
| 128 |
+
"path_recoveries": 0,
|
| 129 |
+
"noop_fallbacks": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"timestep": 5,
|
| 133 |
+
"chosen_macro_mode": null,
|
| 134 |
+
"planner_scores": [
|
| 135 |
+
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
+
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|
| 142 |
+
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|
| 143 |
+
],
|
| 144 |
+
"predicted_reocclusion": null,
|
| 145 |
+
"support_mode_conditioning": true,
|
| 146 |
+
"path_recoveries": 0,
|
| 147 |
+
"noop_fallbacks": 0
|
| 148 |
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| 165 |
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| 166 |
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| 169 |
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|
| 182 |
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| 183 |
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|
| 184 |
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},
|
| 185 |
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{
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| 186 |
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| 187 |
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| 198 |
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"predicted_reocclusion": null,
|
| 199 |
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|
| 200 |
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"path_recoveries": 0,
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| 201 |
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| 202 |
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| 203 |
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{
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| 204 |
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| 205 |
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| 216 |
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"predicted_reocclusion": null,
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| 217 |
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"support_mode_conditioning": true,
|
| 218 |
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"path_recoveries": 0,
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| 219 |
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| 220 |
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},
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| 221 |
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{
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| 222 |
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| 223 |
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"noop_fallbacks": 0
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| 256 |
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},
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| 257 |
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{
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| 258 |
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|
| 259 |
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| 260 |
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"planner_scores": [
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| 272 |
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"path_recoveries": 0,
|
| 273 |
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"noop_fallbacks": 0
|
| 274 |
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},
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| 275 |
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{
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| 276 |
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| 277 |
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0.0
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| 287 |
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| 288 |
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"predicted_reocclusion": null,
|
| 289 |
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"support_mode_conditioning": true,
|
| 290 |
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"path_recoveries": 0,
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| 291 |
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| 292 |
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| 293 |
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{
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| 294 |
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| 295 |
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| 296 |
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| 308 |
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| 310 |
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| 311 |
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| 312 |
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| 327 |
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| 328 |
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},
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| 329 |
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{
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| 330 |
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| 331 |
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| 332 |
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| 342 |
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|
| 344 |
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|
| 345 |
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"noop_fallbacks": 0
|
| 346 |
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},
|
| 347 |
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{
|
| 348 |
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|
| 349 |
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|
| 350 |
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| 351 |
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| 359 |
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| 360 |
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| 361 |
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|
| 362 |
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"path_recoveries": 0,
|
| 363 |
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|
| 364 |
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},
|
| 365 |
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{
|
| 366 |
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|
| 367 |
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| 368 |
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| 369 |
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| 370 |
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| 373 |
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0.0,
|
| 374 |
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0.0,
|
| 375 |
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0.0,
|
| 376 |
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0.0
|
| 377 |
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],
|
| 378 |
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"predicted_reocclusion": null,
|
| 379 |
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|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
+
0.0,
|
| 388 |
+
0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
+
0.0
|
| 395 |
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],
|
| 396 |
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|
| 397 |
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|
| 398 |
+
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|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_lift_tray`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/stderr.txt
ADDED
|
@@ -0,0 +1,6 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
| 5 |
+
WARNING:root:Waypoints are not reachable right=(True, '') left=(False, 'waypoint1 - DualPanda')
|
| 6 |
+
ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_lift_tray. Infeasible episode. Can't reach waypoint ((True, ''), (False, 'waypoint1 - DualPanda')).
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/stdout.txt
ADDED
|
@@ -0,0 +1,414 @@
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| 370 |
+
0.0,
|
| 371 |
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0.0,
|
| 372 |
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0.0,
|
| 373 |
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0.0,
|
| 374 |
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0.0,
|
| 375 |
+
0.0,
|
| 376 |
+
0.0
|
| 377 |
+
],
|
| 378 |
+
"predicted_reocclusion": null,
|
| 379 |
+
"support_mode_conditioning": true,
|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
+
0.0,
|
| 388 |
+
0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
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0.0
|
| 395 |
+
],
|
| 396 |
+
"predicted_reocclusion": null,
|
| 397 |
+
"support_mode_conditioning": true,
|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
| 414 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop --tasks bimanual_pick_laptop --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/rollout_eval.json
ADDED
|
@@ -0,0 +1,413 @@
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_pick_laptop": {
|
| 21 |
+
"task_class": "BimanualPickLaptop",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "pick up the laptop",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": null,
|
| 44 |
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"planner_scores": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"predicted_reocclusion": null,
|
| 55 |
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"support_mode_conditioning": true,
|
| 56 |
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"path_recoveries": 0,
|
| 57 |
+
"noop_fallbacks": 0
|
| 58 |
+
},
|
| 59 |
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{
|
| 60 |
+
"timestep": 1,
|
| 61 |
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"chosen_macro_mode": null,
|
| 62 |
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"planner_scores": [
|
| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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0.0
|
| 71 |
+
],
|
| 72 |
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"predicted_reocclusion": null,
|
| 73 |
+
"support_mode_conditioning": true,
|
| 74 |
+
"path_recoveries": 0,
|
| 75 |
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"noop_fallbacks": 0
|
| 76 |
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},
|
| 77 |
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{
|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
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|
| 83 |
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|
| 84 |
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|
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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],
|
| 90 |
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|
| 91 |
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|
| 92 |
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"path_recoveries": 0,
|
| 93 |
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"noop_fallbacks": 0
|
| 94 |
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},
|
| 95 |
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{
|
| 96 |
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"timestep": 3,
|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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],
|
| 108 |
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"predicted_reocclusion": null,
|
| 109 |
+
"support_mode_conditioning": true,
|
| 110 |
+
"path_recoveries": 0,
|
| 111 |
+
"noop_fallbacks": 0
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"timestep": 4,
|
| 115 |
+
"chosen_macro_mode": null,
|
| 116 |
+
"planner_scores": [
|
| 117 |
+
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
+
],
|
| 126 |
+
"predicted_reocclusion": null,
|
| 127 |
+
"support_mode_conditioning": true,
|
| 128 |
+
"path_recoveries": 0,
|
| 129 |
+
"noop_fallbacks": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"timestep": 5,
|
| 133 |
+
"chosen_macro_mode": null,
|
| 134 |
+
"planner_scores": [
|
| 135 |
+
0.0,
|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
+
],
|
| 144 |
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"predicted_reocclusion": null,
|
| 145 |
+
"support_mode_conditioning": true,
|
| 146 |
+
"path_recoveries": 0,
|
| 147 |
+
"noop_fallbacks": 0
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"timestep": 6,
|
| 151 |
+
"chosen_macro_mode": null,
|
| 152 |
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"planner_scores": [
|
| 153 |
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|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
+
],
|
| 162 |
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"predicted_reocclusion": null,
|
| 163 |
+
"support_mode_conditioning": true,
|
| 164 |
+
"path_recoveries": 0,
|
| 165 |
+
"noop_fallbacks": 0
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"timestep": 7,
|
| 169 |
+
"chosen_macro_mode": null,
|
| 170 |
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"planner_scores": [
|
| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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|
| 178 |
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|
| 179 |
+
],
|
| 180 |
+
"predicted_reocclusion": null,
|
| 181 |
+
"support_mode_conditioning": true,
|
| 182 |
+
"path_recoveries": 0,
|
| 183 |
+
"noop_fallbacks": 0
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"timestep": 8,
|
| 187 |
+
"chosen_macro_mode": null,
|
| 188 |
+
"planner_scores": [
|
| 189 |
+
0.0,
|
| 190 |
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0.0,
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| 191 |
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0.0,
|
| 192 |
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0.0,
|
| 193 |
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0.0,
|
| 194 |
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0.0,
|
| 195 |
+
0.0,
|
| 196 |
+
0.0
|
| 197 |
+
],
|
| 198 |
+
"predicted_reocclusion": null,
|
| 199 |
+
"support_mode_conditioning": true,
|
| 200 |
+
"path_recoveries": 0,
|
| 201 |
+
"noop_fallbacks": 0
|
| 202 |
+
},
|
| 203 |
+
{
|
| 204 |
+
"timestep": 9,
|
| 205 |
+
"chosen_macro_mode": null,
|
| 206 |
+
"planner_scores": [
|
| 207 |
+
0.0,
|
| 208 |
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0.0,
|
| 209 |
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0.0,
|
| 210 |
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0.0,
|
| 211 |
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0.0,
|
| 212 |
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0.0,
|
| 213 |
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0.0,
|
| 214 |
+
0.0
|
| 215 |
+
],
|
| 216 |
+
"predicted_reocclusion": null,
|
| 217 |
+
"support_mode_conditioning": true,
|
| 218 |
+
"path_recoveries": 0,
|
| 219 |
+
"noop_fallbacks": 0
|
| 220 |
+
},
|
| 221 |
+
{
|
| 222 |
+
"timestep": 10,
|
| 223 |
+
"chosen_macro_mode": null,
|
| 224 |
+
"planner_scores": [
|
| 225 |
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0.0,
|
| 226 |
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0.0,
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| 227 |
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0.0,
|
| 228 |
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0.0,
|
| 229 |
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0.0,
|
| 230 |
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0.0,
|
| 231 |
+
0.0,
|
| 232 |
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0.0
|
| 233 |
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],
|
| 234 |
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"predicted_reocclusion": null,
|
| 235 |
+
"support_mode_conditioning": true,
|
| 236 |
+
"path_recoveries": 0,
|
| 237 |
+
"noop_fallbacks": 0
|
| 238 |
+
},
|
| 239 |
+
{
|
| 240 |
+
"timestep": 11,
|
| 241 |
+
"chosen_macro_mode": null,
|
| 242 |
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"planner_scores": [
|
| 243 |
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0.0,
|
| 244 |
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0.0,
|
| 245 |
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0.0,
|
| 246 |
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0.0,
|
| 247 |
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0.0,
|
| 248 |
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0.0,
|
| 249 |
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0.0,
|
| 250 |
+
0.0
|
| 251 |
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],
|
| 252 |
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"predicted_reocclusion": null,
|
| 253 |
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"support_mode_conditioning": true,
|
| 254 |
+
"path_recoveries": 0,
|
| 255 |
+
"noop_fallbacks": 0
|
| 256 |
+
},
|
| 257 |
+
{
|
| 258 |
+
"timestep": 12,
|
| 259 |
+
"chosen_macro_mode": null,
|
| 260 |
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"planner_scores": [
|
| 261 |
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0.0,
|
| 262 |
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0.0,
|
| 263 |
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0.0,
|
| 264 |
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0.0,
|
| 265 |
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0.0,
|
| 266 |
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0.0,
|
| 267 |
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0.0,
|
| 268 |
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0.0
|
| 269 |
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],
|
| 270 |
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"predicted_reocclusion": null,
|
| 271 |
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"support_mode_conditioning": true,
|
| 272 |
+
"path_recoveries": 0,
|
| 273 |
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"noop_fallbacks": 0
|
| 274 |
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},
|
| 275 |
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{
|
| 276 |
+
"timestep": 13,
|
| 277 |
+
"chosen_macro_mode": null,
|
| 278 |
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"planner_scores": [
|
| 279 |
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0.0,
|
| 280 |
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0.0,
|
| 281 |
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0.0,
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| 282 |
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0.0,
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| 283 |
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0.0,
|
| 284 |
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0.0,
|
| 285 |
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0.0,
|
| 286 |
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0.0
|
| 287 |
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],
|
| 288 |
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"predicted_reocclusion": null,
|
| 289 |
+
"support_mode_conditioning": true,
|
| 290 |
+
"path_recoveries": 0,
|
| 291 |
+
"noop_fallbacks": 0
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"timestep": 14,
|
| 295 |
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"chosen_macro_mode": null,
|
| 296 |
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"planner_scores": [
|
| 297 |
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0.0,
|
| 298 |
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0.0,
|
| 299 |
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0.0,
|
| 300 |
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0.0,
|
| 301 |
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0.0,
|
| 302 |
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0.0,
|
| 303 |
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0.0,
|
| 304 |
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0.0
|
| 305 |
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],
|
| 306 |
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"predicted_reocclusion": null,
|
| 307 |
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"support_mode_conditioning": true,
|
| 308 |
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"path_recoveries": 0,
|
| 309 |
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"noop_fallbacks": 0
|
| 310 |
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},
|
| 311 |
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{
|
| 312 |
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"timestep": 15,
|
| 313 |
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"chosen_macro_mode": null,
|
| 314 |
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"planner_scores": [
|
| 315 |
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0.0,
|
| 316 |
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0.0,
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| 317 |
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0.0,
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| 318 |
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0.0,
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| 319 |
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0.0,
|
| 320 |
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0.0,
|
| 321 |
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0.0,
|
| 322 |
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0.0
|
| 323 |
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],
|
| 324 |
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"predicted_reocclusion": null,
|
| 325 |
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"support_mode_conditioning": true,
|
| 326 |
+
"path_recoveries": 0,
|
| 327 |
+
"noop_fallbacks": 0
|
| 328 |
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},
|
| 329 |
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{
|
| 330 |
+
"timestep": 16,
|
| 331 |
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"chosen_macro_mode": null,
|
| 332 |
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"planner_scores": [
|
| 333 |
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0.0,
|
| 334 |
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0.0,
|
| 335 |
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0.0,
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| 336 |
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0.0,
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| 337 |
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0.0,
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| 338 |
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0.0,
|
| 339 |
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0.0,
|
| 340 |
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0.0
|
| 341 |
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],
|
| 342 |
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"predicted_reocclusion": null,
|
| 343 |
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"support_mode_conditioning": true,
|
| 344 |
+
"path_recoveries": 0,
|
| 345 |
+
"noop_fallbacks": 0
|
| 346 |
+
},
|
| 347 |
+
{
|
| 348 |
+
"timestep": 17,
|
| 349 |
+
"chosen_macro_mode": null,
|
| 350 |
+
"planner_scores": [
|
| 351 |
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0.0,
|
| 352 |
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0.0,
|
| 353 |
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0.0,
|
| 354 |
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0.0,
|
| 355 |
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0.0,
|
| 356 |
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0.0,
|
| 357 |
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0.0,
|
| 358 |
+
0.0
|
| 359 |
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],
|
| 360 |
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"predicted_reocclusion": null,
|
| 361 |
+
"support_mode_conditioning": true,
|
| 362 |
+
"path_recoveries": 0,
|
| 363 |
+
"noop_fallbacks": 0
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"timestep": 18,
|
| 367 |
+
"chosen_macro_mode": null,
|
| 368 |
+
"planner_scores": [
|
| 369 |
+
0.0,
|
| 370 |
+
0.0,
|
| 371 |
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0.0,
|
| 372 |
+
0.0,
|
| 373 |
+
0.0,
|
| 374 |
+
0.0,
|
| 375 |
+
0.0,
|
| 376 |
+
0.0
|
| 377 |
+
],
|
| 378 |
+
"predicted_reocclusion": null,
|
| 379 |
+
"support_mode_conditioning": true,
|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
+
0.0,
|
| 388 |
+
0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
+
0.0
|
| 395 |
+
],
|
| 396 |
+
"predicted_reocclusion": null,
|
| 397 |
+
"support_mode_conditioning": true,
|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_pick_laptop`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/stderr.txt
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
| 5 |
+
ERROR:root:robot is in collision
|
| 6 |
+
ERROR:root:Error when checking waypoints. Exception is:
|
| 7 |
+
WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '')
|
| 8 |
+
ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')).
|
| 9 |
+
WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '')
|
| 10 |
+
ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')).
|
| 11 |
+
WARNING:root:Waypoints are not reachable right=(False, 'waypoint5 - DualPanda') left=(True, '')
|
| 12 |
+
ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint5 - DualPanda'), (True, '')).
|
| 13 |
+
WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '')
|
| 14 |
+
ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')).
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/stdout.txt
ADDED
|
@@ -0,0 +1,414 @@
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],
|
| 378 |
+
"predicted_reocclusion": null,
|
| 379 |
+
"support_mode_conditioning": true,
|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
+
0.0,
|
| 388 |
+
0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
+
0.0
|
| 395 |
+
],
|
| 396 |
+
"predicted_reocclusion": null,
|
| 397 |
+
"support_mode_conditioning": true,
|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
| 414 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate --tasks bimanual_pick_plate --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/rollout_eval.json
ADDED
|
@@ -0,0 +1,413 @@
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
|
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|
|
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|
|
|
|
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|
|
|
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|
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|
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|
|
|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_pick_plate": {
|
| 21 |
+
"task_class": "BimanualPickPlate",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "pick up the plate",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
+
"chosen_macro_mode": null,
|
| 44 |
+
"planner_scores": [
|
| 45 |
+
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
+
0.0
|
| 53 |
+
],
|
| 54 |
+
"predicted_reocclusion": null,
|
| 55 |
+
"support_mode_conditioning": true,
|
| 56 |
+
"path_recoveries": 0,
|
| 57 |
+
"noop_fallbacks": 0
|
| 58 |
+
},
|
| 59 |
+
{
|
| 60 |
+
"timestep": 1,
|
| 61 |
+
"chosen_macro_mode": null,
|
| 62 |
+
"planner_scores": [
|
| 63 |
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0.0,
|
| 64 |
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|
| 65 |
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|
| 66 |
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0.0,
|
| 67 |
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|
| 68 |
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0.0,
|
| 69 |
+
0.0,
|
| 70 |
+
0.0
|
| 71 |
+
],
|
| 72 |
+
"predicted_reocclusion": null,
|
| 73 |
+
"support_mode_conditioning": true,
|
| 74 |
+
"path_recoveries": 0,
|
| 75 |
+
"noop_fallbacks": 0
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"timestep": 2,
|
| 79 |
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"chosen_macro_mode": null,
|
| 80 |
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"planner_scores": [
|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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0.0,
|
| 88 |
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|
| 89 |
+
],
|
| 90 |
+
"predicted_reocclusion": null,
|
| 91 |
+
"support_mode_conditioning": true,
|
| 92 |
+
"path_recoveries": 0,
|
| 93 |
+
"noop_fallbacks": 0
|
| 94 |
+
},
|
| 95 |
+
{
|
| 96 |
+
"timestep": 3,
|
| 97 |
+
"chosen_macro_mode": null,
|
| 98 |
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"planner_scores": [
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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0.0,
|
| 106 |
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|
| 107 |
+
],
|
| 108 |
+
"predicted_reocclusion": null,
|
| 109 |
+
"support_mode_conditioning": true,
|
| 110 |
+
"path_recoveries": 0,
|
| 111 |
+
"noop_fallbacks": 0
|
| 112 |
+
},
|
| 113 |
+
{
|
| 114 |
+
"timestep": 4,
|
| 115 |
+
"chosen_macro_mode": null,
|
| 116 |
+
"planner_scores": [
|
| 117 |
+
0.0,
|
| 118 |
+
0.0,
|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
+
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|
| 123 |
+
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|
| 124 |
+
0.0
|
| 125 |
+
],
|
| 126 |
+
"predicted_reocclusion": null,
|
| 127 |
+
"support_mode_conditioning": true,
|
| 128 |
+
"path_recoveries": 0,
|
| 129 |
+
"noop_fallbacks": 0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"timestep": 5,
|
| 133 |
+
"chosen_macro_mode": null,
|
| 134 |
+
"planner_scores": [
|
| 135 |
+
0.0,
|
| 136 |
+
0.0,
|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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0.0,
|
| 142 |
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0.0
|
| 143 |
+
],
|
| 144 |
+
"predicted_reocclusion": null,
|
| 145 |
+
"support_mode_conditioning": true,
|
| 146 |
+
"path_recoveries": 0,
|
| 147 |
+
"noop_fallbacks": 0
|
| 148 |
+
},
|
| 149 |
+
{
|
| 150 |
+
"timestep": 6,
|
| 151 |
+
"chosen_macro_mode": null,
|
| 152 |
+
"planner_scores": [
|
| 153 |
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0.0,
|
| 154 |
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|
| 155 |
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|
| 156 |
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|
| 157 |
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|
| 158 |
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|
| 159 |
+
0.0,
|
| 160 |
+
0.0
|
| 161 |
+
],
|
| 162 |
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"predicted_reocclusion": null,
|
| 163 |
+
"support_mode_conditioning": true,
|
| 164 |
+
"path_recoveries": 0,
|
| 165 |
+
"noop_fallbacks": 0
|
| 166 |
+
},
|
| 167 |
+
{
|
| 168 |
+
"timestep": 7,
|
| 169 |
+
"chosen_macro_mode": null,
|
| 170 |
+
"planner_scores": [
|
| 171 |
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0.0,
|
| 172 |
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0.0,
|
| 173 |
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|
| 174 |
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0.0,
|
| 175 |
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|
| 176 |
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0.0,
|
| 177 |
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0.0,
|
| 178 |
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0.0
|
| 179 |
+
],
|
| 180 |
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"predicted_reocclusion": null,
|
| 181 |
+
"support_mode_conditioning": true,
|
| 182 |
+
"path_recoveries": 0,
|
| 183 |
+
"noop_fallbacks": 0
|
| 184 |
+
},
|
| 185 |
+
{
|
| 186 |
+
"timestep": 8,
|
| 187 |
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| 188 |
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| 189 |
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| 195 |
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|
| 196 |
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0.0
|
| 197 |
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],
|
| 198 |
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"predicted_reocclusion": null,
|
| 199 |
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"support_mode_conditioning": true,
|
| 200 |
+
"path_recoveries": 0,
|
| 201 |
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"noop_fallbacks": 0
|
| 202 |
+
},
|
| 203 |
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{
|
| 204 |
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"timestep": 9,
|
| 205 |
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"chosen_macro_mode": null,
|
| 206 |
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"planner_scores": [
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| 207 |
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0.0,
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| 209 |
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0.0,
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| 210 |
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| 211 |
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| 212 |
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|
| 213 |
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| 214 |
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0.0
|
| 215 |
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],
|
| 216 |
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"predicted_reocclusion": null,
|
| 217 |
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"support_mode_conditioning": true,
|
| 218 |
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"path_recoveries": 0,
|
| 219 |
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"noop_fallbacks": 0
|
| 220 |
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},
|
| 221 |
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{
|
| 222 |
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"timestep": 10,
|
| 223 |
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"chosen_macro_mode": null,
|
| 224 |
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"planner_scores": [
|
| 225 |
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0.0,
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| 226 |
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| 229 |
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0.0,
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| 230 |
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0.0,
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| 231 |
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| 232 |
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0.0
|
| 233 |
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],
|
| 234 |
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"predicted_reocclusion": null,
|
| 235 |
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|
| 236 |
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|
| 237 |
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|
| 238 |
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},
|
| 239 |
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{
|
| 240 |
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|
| 241 |
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|
| 242 |
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| 243 |
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0.0,
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| 244 |
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0.0,
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| 248 |
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| 249 |
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0.0,
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| 250 |
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0.0
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| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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"path_recoveries": 0,
|
| 255 |
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"noop_fallbacks": 0
|
| 256 |
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},
|
| 257 |
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{
|
| 258 |
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"timestep": 12,
|
| 259 |
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|
| 260 |
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"planner_scores": [
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| 261 |
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0.0,
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0.0,
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0.0,
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0.0
|
| 269 |
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],
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| 270 |
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|
| 271 |
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"support_mode_conditioning": true,
|
| 272 |
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"path_recoveries": 0,
|
| 273 |
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"noop_fallbacks": 0
|
| 274 |
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},
|
| 275 |
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{
|
| 276 |
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"timestep": 13,
|
| 277 |
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"chosen_macro_mode": null,
|
| 278 |
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"planner_scores": [
|
| 279 |
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0.0,
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0.0,
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0.0,
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| 284 |
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0.0,
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| 285 |
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0.0,
|
| 286 |
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0.0
|
| 287 |
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],
|
| 288 |
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"predicted_reocclusion": null,
|
| 289 |
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"support_mode_conditioning": true,
|
| 290 |
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"path_recoveries": 0,
|
| 291 |
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"noop_fallbacks": 0
|
| 292 |
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},
|
| 293 |
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{
|
| 294 |
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"timestep": 14,
|
| 295 |
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"chosen_macro_mode": null,
|
| 296 |
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"planner_scores": [
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| 297 |
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0.0,
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| 298 |
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| 300 |
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| 302 |
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| 303 |
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| 304 |
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0.0
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| 305 |
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| 306 |
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"predicted_reocclusion": null,
|
| 307 |
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"support_mode_conditioning": true,
|
| 308 |
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"path_recoveries": 0,
|
| 309 |
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"noop_fallbacks": 0
|
| 310 |
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},
|
| 311 |
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{
|
| 312 |
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|
| 313 |
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"chosen_macro_mode": null,
|
| 314 |
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"planner_scores": [
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| 315 |
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| 321 |
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| 323 |
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| 324 |
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|
| 326 |
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"path_recoveries": 0,
|
| 327 |
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"noop_fallbacks": 0
|
| 328 |
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},
|
| 329 |
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{
|
| 330 |
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|
| 331 |
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|
| 332 |
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| 333 |
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| 334 |
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| 341 |
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| 342 |
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|
| 343 |
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"support_mode_conditioning": true,
|
| 344 |
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"path_recoveries": 0,
|
| 345 |
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"noop_fallbacks": 0
|
| 346 |
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},
|
| 347 |
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{
|
| 348 |
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"timestep": 17,
|
| 349 |
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"chosen_macro_mode": null,
|
| 350 |
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"planner_scores": [
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| 351 |
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| 354 |
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| 355 |
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| 356 |
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| 357 |
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| 358 |
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| 359 |
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],
|
| 360 |
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|
| 361 |
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"support_mode_conditioning": true,
|
| 362 |
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"path_recoveries": 0,
|
| 363 |
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"noop_fallbacks": 0
|
| 364 |
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},
|
| 365 |
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{
|
| 366 |
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"timestep": 18,
|
| 367 |
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"chosen_macro_mode": null,
|
| 368 |
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"planner_scores": [
|
| 369 |
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0.0,
|
| 370 |
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0.0,
|
| 371 |
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0.0,
|
| 372 |
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0.0,
|
| 373 |
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0.0,
|
| 374 |
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0.0,
|
| 375 |
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0.0,
|
| 376 |
+
0.0
|
| 377 |
+
],
|
| 378 |
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"predicted_reocclusion": null,
|
| 379 |
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"support_mode_conditioning": true,
|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
+
0.0,
|
| 388 |
+
0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
+
0.0
|
| 395 |
+
],
|
| 396 |
+
"predicted_reocclusion": null,
|
| 397 |
+
"support_mode_conditioning": true,
|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_pick_plate`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/stdout.txt
ADDED
|
@@ -0,0 +1,414 @@
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| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
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| 3 |
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| 4 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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|
| 15 |
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"front",
|
| 16 |
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"wrist_left",
|
| 17 |
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"wrist_right"
|
| 18 |
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],
|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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| 23 |
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| 27 |
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| 32 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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},
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"mean_success": 0.0
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| 413 |
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}
|
| 414 |
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[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/command.txt
ADDED
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@@ -0,0 +1 @@
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| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning
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artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/rollout_eval.json
ADDED
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@@ -0,0 +1,413 @@
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|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 1,
|
| 11 |
+
"episode_length": 20,
|
| 12 |
+
"resolution": 224,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"cameras": [
|
| 15 |
+
"front",
|
| 16 |
+
"wrist_left",
|
| 17 |
+
"wrist_right"
|
| 18 |
+
],
|
| 19 |
+
"tasks": {
|
| 20 |
+
"bimanual_push_box": {
|
| 21 |
+
"task_class": "BimanualPushBox",
|
| 22 |
+
"successes": [
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
"returns": [
|
| 26 |
+
0.0
|
| 27 |
+
],
|
| 28 |
+
"path_recoveries": [
|
| 29 |
+
0
|
| 30 |
+
],
|
| 31 |
+
"noop_fallbacks": [
|
| 32 |
+
0
|
| 33 |
+
],
|
| 34 |
+
"reset_retries": [
|
| 35 |
+
0
|
| 36 |
+
],
|
| 37 |
+
"episode_traces": [
|
| 38 |
+
{
|
| 39 |
+
"language_goal": "push the box to the red area",
|
| 40 |
+
"steps": [
|
| 41 |
+
{
|
| 42 |
+
"timestep": 0,
|
| 43 |
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"chosen_macro_mode": null,
|
| 44 |
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"planner_scores": [
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"predicted_reocclusion": null,
|
| 55 |
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"support_mode_conditioning": true,
|
| 56 |
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"path_recoveries": 0,
|
| 57 |
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"noop_fallbacks": 0
|
| 58 |
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},
|
| 59 |
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{
|
| 60 |
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"timestep": 1,
|
| 61 |
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|
| 62 |
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"planner_scores": [
|
| 63 |
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|
| 64 |
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| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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],
|
| 72 |
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"predicted_reocclusion": null,
|
| 73 |
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"support_mode_conditioning": true,
|
| 74 |
+
"path_recoveries": 0,
|
| 75 |
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"noop_fallbacks": 0
|
| 76 |
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},
|
| 77 |
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{
|
| 78 |
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"timestep": 2,
|
| 79 |
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|
| 80 |
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|
| 81 |
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|
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| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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],
|
| 90 |
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"predicted_reocclusion": null,
|
| 91 |
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|
| 92 |
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|
| 93 |
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"noop_fallbacks": 0
|
| 94 |
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},
|
| 95 |
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{
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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"path_recoveries": 0,
|
| 111 |
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"noop_fallbacks": 0
|
| 112 |
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},
|
| 113 |
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{
|
| 114 |
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"timestep": 4,
|
| 115 |
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"chosen_macro_mode": null,
|
| 116 |
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"planner_scores": [
|
| 117 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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"noop_fallbacks": 0
|
| 130 |
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},
|
| 131 |
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{
|
| 132 |
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"timestep": 5,
|
| 133 |
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|
| 134 |
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|
| 135 |
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| 143 |
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],
|
| 144 |
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|
| 145 |
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"support_mode_conditioning": true,
|
| 146 |
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"path_recoveries": 0,
|
| 147 |
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"noop_fallbacks": 0
|
| 148 |
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},
|
| 149 |
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{
|
| 150 |
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"timestep": 6,
|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 162 |
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|
| 163 |
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|
| 164 |
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|
| 165 |
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|
| 166 |
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},
|
| 167 |
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{
|
| 168 |
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|
| 169 |
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|
| 170 |
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|
| 171 |
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|
| 180 |
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|
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|
| 182 |
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|
| 183 |
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|
| 184 |
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},
|
| 185 |
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{
|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
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|
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|
| 198 |
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|
| 199 |
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"support_mode_conditioning": true,
|
| 200 |
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"path_recoveries": 0,
|
| 201 |
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"noop_fallbacks": 0
|
| 202 |
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},
|
| 203 |
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{
|
| 204 |
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"timestep": 9,
|
| 205 |
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|
| 206 |
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|
| 207 |
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|
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|
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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"noop_fallbacks": 0
|
| 220 |
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},
|
| 221 |
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{
|
| 222 |
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|
| 223 |
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|
| 224 |
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"planner_scores": [
|
| 225 |
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0.0,
|
| 226 |
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0.0,
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| 227 |
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0.0,
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| 228 |
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0.0,
|
| 229 |
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0.0,
|
| 230 |
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0.0,
|
| 231 |
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0.0,
|
| 232 |
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0.0
|
| 233 |
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],
|
| 234 |
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"predicted_reocclusion": null,
|
| 235 |
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"support_mode_conditioning": true,
|
| 236 |
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"path_recoveries": 0,
|
| 237 |
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"noop_fallbacks": 0
|
| 238 |
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},
|
| 239 |
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{
|
| 240 |
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"timestep": 11,
|
| 241 |
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|
| 242 |
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"planner_scores": [
|
| 243 |
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0.0,
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| 244 |
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| 245 |
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0.0,
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| 248 |
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0.0,
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| 249 |
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0.0,
|
| 250 |
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0.0
|
| 251 |
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],
|
| 252 |
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"predicted_reocclusion": null,
|
| 253 |
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"support_mode_conditioning": true,
|
| 254 |
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"path_recoveries": 0,
|
| 255 |
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"noop_fallbacks": 0
|
| 256 |
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},
|
| 257 |
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{
|
| 258 |
+
"timestep": 12,
|
| 259 |
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"chosen_macro_mode": null,
|
| 260 |
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"planner_scores": [
|
| 261 |
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
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| 267 |
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0.0,
|
| 268 |
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0.0
|
| 269 |
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],
|
| 270 |
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"predicted_reocclusion": null,
|
| 271 |
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"support_mode_conditioning": true,
|
| 272 |
+
"path_recoveries": 0,
|
| 273 |
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"noop_fallbacks": 0
|
| 274 |
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},
|
| 275 |
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{
|
| 276 |
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"timestep": 13,
|
| 277 |
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"chosen_macro_mode": null,
|
| 278 |
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"planner_scores": [
|
| 279 |
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0.0,
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0.0,
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0.0,
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0.0,
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0.0,
|
| 285 |
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0.0,
|
| 286 |
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0.0
|
| 287 |
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],
|
| 288 |
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"predicted_reocclusion": null,
|
| 289 |
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"support_mode_conditioning": true,
|
| 290 |
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"path_recoveries": 0,
|
| 291 |
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"noop_fallbacks": 0
|
| 292 |
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},
|
| 293 |
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{
|
| 294 |
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"timestep": 14,
|
| 295 |
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|
| 296 |
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"planner_scores": [
|
| 297 |
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0.0,
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| 298 |
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0.0,
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| 304 |
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0.0
|
| 305 |
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|
| 306 |
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"predicted_reocclusion": null,
|
| 307 |
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"support_mode_conditioning": true,
|
| 308 |
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"path_recoveries": 0,
|
| 309 |
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"noop_fallbacks": 0
|
| 310 |
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},
|
| 311 |
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{
|
| 312 |
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|
| 313 |
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"chosen_macro_mode": null,
|
| 314 |
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"planner_scores": [
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| 315 |
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| 323 |
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"predicted_reocclusion": null,
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|
| 326 |
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"path_recoveries": 0,
|
| 327 |
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"noop_fallbacks": 0
|
| 328 |
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},
|
| 329 |
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{
|
| 330 |
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|
| 331 |
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|
| 332 |
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"planner_scores": [
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| 333 |
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0.0,
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| 334 |
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| 341 |
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| 342 |
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|
| 343 |
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"support_mode_conditioning": true,
|
| 344 |
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"path_recoveries": 0,
|
| 345 |
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"noop_fallbacks": 0
|
| 346 |
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},
|
| 347 |
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{
|
| 348 |
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"timestep": 17,
|
| 349 |
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"chosen_macro_mode": null,
|
| 350 |
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"planner_scores": [
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| 351 |
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0.0,
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| 352 |
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0.0,
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| 356 |
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| 357 |
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| 358 |
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0.0
|
| 359 |
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],
|
| 360 |
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"predicted_reocclusion": null,
|
| 361 |
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"support_mode_conditioning": true,
|
| 362 |
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"path_recoveries": 0,
|
| 363 |
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"noop_fallbacks": 0
|
| 364 |
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},
|
| 365 |
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{
|
| 366 |
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"timestep": 18,
|
| 367 |
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"chosen_macro_mode": null,
|
| 368 |
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"planner_scores": [
|
| 369 |
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0.0,
|
| 370 |
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0.0,
|
| 371 |
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0.0,
|
| 372 |
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0.0,
|
| 373 |
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0.0,
|
| 374 |
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0.0,
|
| 375 |
+
0.0,
|
| 376 |
+
0.0
|
| 377 |
+
],
|
| 378 |
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"predicted_reocclusion": null,
|
| 379 |
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"support_mode_conditioning": true,
|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
+
0.0,
|
| 388 |
+
0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
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0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
+
0.0
|
| 395 |
+
],
|
| 396 |
+
"predicted_reocclusion": null,
|
| 397 |
+
"support_mode_conditioning": true,
|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_push_box`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/stdout.txt
ADDED
|
@@ -0,0 +1,414 @@
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|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
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| 403 |
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| 404 |
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| 407 |
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|
| 408 |
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|
| 409 |
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|
| 410 |
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}
|
| 411 |
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},
|
| 412 |
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| 413 |
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}
|
| 414 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_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 --allow-unsupervised-planning
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.json
ADDED
|
@@ -0,0 +1,413 @@
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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| 1 |
+
{
|
| 2 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 28 |
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| 32 |
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| 37 |
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+
{
|
| 258 |
+
"timestep": 12,
|
| 259 |
+
"chosen_macro_mode": null,
|
| 260 |
+
"planner_scores": [
|
| 261 |
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0.0,
|
| 262 |
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0.0,
|
| 263 |
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0.0,
|
| 264 |
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0.0,
|
| 265 |
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0.0,
|
| 266 |
+
0.0,
|
| 267 |
+
0.0,
|
| 268 |
+
0.0
|
| 269 |
+
],
|
| 270 |
+
"predicted_reocclusion": null,
|
| 271 |
+
"support_mode_conditioning": true,
|
| 272 |
+
"path_recoveries": 0,
|
| 273 |
+
"noop_fallbacks": 0
|
| 274 |
+
},
|
| 275 |
+
{
|
| 276 |
+
"timestep": 13,
|
| 277 |
+
"chosen_macro_mode": null,
|
| 278 |
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"planner_scores": [
|
| 279 |
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0.0,
|
| 280 |
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0.0,
|
| 281 |
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0.0,
|
| 282 |
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0.0,
|
| 283 |
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0.0,
|
| 284 |
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0.0,
|
| 285 |
+
0.0,
|
| 286 |
+
0.0
|
| 287 |
+
],
|
| 288 |
+
"predicted_reocclusion": null,
|
| 289 |
+
"support_mode_conditioning": true,
|
| 290 |
+
"path_recoveries": 0,
|
| 291 |
+
"noop_fallbacks": 0
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"timestep": 14,
|
| 295 |
+
"chosen_macro_mode": null,
|
| 296 |
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"planner_scores": [
|
| 297 |
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0.0,
|
| 298 |
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0.0,
|
| 299 |
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0.0,
|
| 300 |
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0.0,
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| 301 |
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0.0,
|
| 302 |
+
0.0,
|
| 303 |
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0.0,
|
| 304 |
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0.0
|
| 305 |
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],
|
| 306 |
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"predicted_reocclusion": null,
|
| 307 |
+
"support_mode_conditioning": true,
|
| 308 |
+
"path_recoveries": 0,
|
| 309 |
+
"noop_fallbacks": 0
|
| 310 |
+
},
|
| 311 |
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{
|
| 312 |
+
"timestep": 15,
|
| 313 |
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"chosen_macro_mode": null,
|
| 314 |
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"planner_scores": [
|
| 315 |
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0.0,
|
| 316 |
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0.0,
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| 317 |
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0.0,
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| 318 |
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0.0,
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| 319 |
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0.0,
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| 320 |
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0.0,
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| 321 |
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0.0,
|
| 322 |
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0.0
|
| 323 |
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],
|
| 324 |
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"predicted_reocclusion": null,
|
| 325 |
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"support_mode_conditioning": true,
|
| 326 |
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"path_recoveries": 0,
|
| 327 |
+
"noop_fallbacks": 0
|
| 328 |
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},
|
| 329 |
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{
|
| 330 |
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"timestep": 16,
|
| 331 |
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"chosen_macro_mode": null,
|
| 332 |
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"planner_scores": [
|
| 333 |
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0.0,
|
| 334 |
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0.0,
|
| 335 |
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0.0,
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| 336 |
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0.0,
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| 337 |
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0.0,
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| 338 |
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0.0,
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| 339 |
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0.0,
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| 340 |
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0.0
|
| 341 |
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],
|
| 342 |
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"predicted_reocclusion": null,
|
| 343 |
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"support_mode_conditioning": true,
|
| 344 |
+
"path_recoveries": 0,
|
| 345 |
+
"noop_fallbacks": 0
|
| 346 |
+
},
|
| 347 |
+
{
|
| 348 |
+
"timestep": 17,
|
| 349 |
+
"chosen_macro_mode": null,
|
| 350 |
+
"planner_scores": [
|
| 351 |
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0.0,
|
| 352 |
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0.0,
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| 353 |
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0.0,
|
| 354 |
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0.0,
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| 355 |
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0.0,
|
| 356 |
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0.0,
|
| 357 |
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0.0,
|
| 358 |
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0.0
|
| 359 |
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],
|
| 360 |
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"predicted_reocclusion": null,
|
| 361 |
+
"support_mode_conditioning": true,
|
| 362 |
+
"path_recoveries": 0,
|
| 363 |
+
"noop_fallbacks": 0
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"timestep": 18,
|
| 367 |
+
"chosen_macro_mode": null,
|
| 368 |
+
"planner_scores": [
|
| 369 |
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0.0,
|
| 370 |
+
0.0,
|
| 371 |
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0.0,
|
| 372 |
+
0.0,
|
| 373 |
+
0.0,
|
| 374 |
+
0.0,
|
| 375 |
+
0.0,
|
| 376 |
+
0.0
|
| 377 |
+
],
|
| 378 |
+
"predicted_reocclusion": null,
|
| 379 |
+
"support_mode_conditioning": true,
|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
+
0.0,
|
| 388 |
+
0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
+
0.0
|
| 395 |
+
],
|
| 396 |
+
"predicted_reocclusion": null,
|
| 397 |
+
"support_mode_conditioning": true,
|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_put_bottle_in_fridge`: mean_success=0.000, returns=[0.0]
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/stderr.txt
ADDED
|
@@ -0,0 +1,4 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
|
| 2 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 3 |
+
qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20
|
| 4 |
+
WARNING:root:not sure how _robot_shapes are used is used.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/stdout.txt
ADDED
|
@@ -0,0 +1,415 @@
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|
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|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
|
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|
|
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|
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|
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|
|
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|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
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|
|
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|
|
|
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|
|
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|
|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[ 0.05 -0.27500001 0.75199997]
|
| 2 |
+
{
|
| 3 |
+
"checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt",
|
| 4 |
+
"plan_requested": false,
|
| 5 |
+
"plan_applied": false,
|
| 6 |
+
"planner_mode": "trainable",
|
| 7 |
+
"support_mode_conditioning": true,
|
| 8 |
+
"task_conditioning": true,
|
| 9 |
+
"geometry_enabled": true,
|
| 10 |
+
"world_model_mode": "checkpoint_default",
|
| 11 |
+
"episodes_per_task": 1,
|
| 12 |
+
"episode_length": 20,
|
| 13 |
+
"resolution": 224,
|
| 14 |
+
"reset_retries": 20,
|
| 15 |
+
"cameras": [
|
| 16 |
+
"front",
|
| 17 |
+
"wrist_left",
|
| 18 |
+
"wrist_right"
|
| 19 |
+
],
|
| 20 |
+
"tasks": {
|
| 21 |
+
"bimanual_put_bottle_in_fridge": {
|
| 22 |
+
"task_class": "BimanualPutBottleInFridge",
|
| 23 |
+
"successes": [
|
| 24 |
+
0.0
|
| 25 |
+
],
|
| 26 |
+
"returns": [
|
| 27 |
+
0.0
|
| 28 |
+
],
|
| 29 |
+
"path_recoveries": [
|
| 30 |
+
0
|
| 31 |
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],
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|
| 384 |
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|
| 385 |
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|
| 386 |
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|
| 387 |
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| 388 |
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|
| 391 |
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|
| 392 |
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|
| 393 |
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|
| 394 |
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|
| 396 |
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|
| 397 |
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|
| 398 |
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|
| 399 |
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|
| 400 |
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|
| 401 |
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|
| 402 |
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|
| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
+
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|
| 410 |
+
"mean_return": 0.0
|
| 411 |
+
}
|
| 412 |
+
},
|
| 413 |
+
"mean_success": 0.0
|
| 414 |
+
}
|
| 415 |
+
[CoppeliaSim:loadinfo] done.
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_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 --allow-unsupervised-planning
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/rollout_eval.json
ADDED
|
@@ -0,0 +1,413 @@
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| 1 |
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{
|
| 2 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 290 |
+
"path_recoveries": 0,
|
| 291 |
+
"noop_fallbacks": 0
|
| 292 |
+
},
|
| 293 |
+
{
|
| 294 |
+
"timestep": 14,
|
| 295 |
+
"chosen_macro_mode": null,
|
| 296 |
+
"planner_scores": [
|
| 297 |
+
0.0,
|
| 298 |
+
0.0,
|
| 299 |
+
0.0,
|
| 300 |
+
0.0,
|
| 301 |
+
0.0,
|
| 302 |
+
0.0,
|
| 303 |
+
0.0,
|
| 304 |
+
0.0
|
| 305 |
+
],
|
| 306 |
+
"predicted_reocclusion": null,
|
| 307 |
+
"support_mode_conditioning": true,
|
| 308 |
+
"path_recoveries": 0,
|
| 309 |
+
"noop_fallbacks": 0
|
| 310 |
+
},
|
| 311 |
+
{
|
| 312 |
+
"timestep": 15,
|
| 313 |
+
"chosen_macro_mode": null,
|
| 314 |
+
"planner_scores": [
|
| 315 |
+
0.0,
|
| 316 |
+
0.0,
|
| 317 |
+
0.0,
|
| 318 |
+
0.0,
|
| 319 |
+
0.0,
|
| 320 |
+
0.0,
|
| 321 |
+
0.0,
|
| 322 |
+
0.0
|
| 323 |
+
],
|
| 324 |
+
"predicted_reocclusion": null,
|
| 325 |
+
"support_mode_conditioning": true,
|
| 326 |
+
"path_recoveries": 0,
|
| 327 |
+
"noop_fallbacks": 0
|
| 328 |
+
},
|
| 329 |
+
{
|
| 330 |
+
"timestep": 16,
|
| 331 |
+
"chosen_macro_mode": null,
|
| 332 |
+
"planner_scores": [
|
| 333 |
+
0.0,
|
| 334 |
+
0.0,
|
| 335 |
+
0.0,
|
| 336 |
+
0.0,
|
| 337 |
+
0.0,
|
| 338 |
+
0.0,
|
| 339 |
+
0.0,
|
| 340 |
+
0.0
|
| 341 |
+
],
|
| 342 |
+
"predicted_reocclusion": null,
|
| 343 |
+
"support_mode_conditioning": true,
|
| 344 |
+
"path_recoveries": 0,
|
| 345 |
+
"noop_fallbacks": 0
|
| 346 |
+
},
|
| 347 |
+
{
|
| 348 |
+
"timestep": 17,
|
| 349 |
+
"chosen_macro_mode": null,
|
| 350 |
+
"planner_scores": [
|
| 351 |
+
0.0,
|
| 352 |
+
0.0,
|
| 353 |
+
0.0,
|
| 354 |
+
0.0,
|
| 355 |
+
0.0,
|
| 356 |
+
0.0,
|
| 357 |
+
0.0,
|
| 358 |
+
0.0
|
| 359 |
+
],
|
| 360 |
+
"predicted_reocclusion": null,
|
| 361 |
+
"support_mode_conditioning": true,
|
| 362 |
+
"path_recoveries": 0,
|
| 363 |
+
"noop_fallbacks": 0
|
| 364 |
+
},
|
| 365 |
+
{
|
| 366 |
+
"timestep": 18,
|
| 367 |
+
"chosen_macro_mode": null,
|
| 368 |
+
"planner_scores": [
|
| 369 |
+
0.0,
|
| 370 |
+
0.0,
|
| 371 |
+
0.0,
|
| 372 |
+
0.0,
|
| 373 |
+
0.0,
|
| 374 |
+
0.0,
|
| 375 |
+
0.0,
|
| 376 |
+
0.0
|
| 377 |
+
],
|
| 378 |
+
"predicted_reocclusion": null,
|
| 379 |
+
"support_mode_conditioning": true,
|
| 380 |
+
"path_recoveries": 0,
|
| 381 |
+
"noop_fallbacks": 0
|
| 382 |
+
},
|
| 383 |
+
{
|
| 384 |
+
"timestep": 19,
|
| 385 |
+
"chosen_macro_mode": null,
|
| 386 |
+
"planner_scores": [
|
| 387 |
+
0.0,
|
| 388 |
+
0.0,
|
| 389 |
+
0.0,
|
| 390 |
+
0.0,
|
| 391 |
+
0.0,
|
| 392 |
+
0.0,
|
| 393 |
+
0.0,
|
| 394 |
+
0.0
|
| 395 |
+
],
|
| 396 |
+
"predicted_reocclusion": null,
|
| 397 |
+
"support_mode_conditioning": true,
|
| 398 |
+
"path_recoveries": 0,
|
| 399 |
+
"noop_fallbacks": 0
|
| 400 |
+
}
|
| 401 |
+
],
|
| 402 |
+
"success": 0.0,
|
| 403 |
+
"return": 0.0,
|
| 404 |
+
"path_recoveries": 0,
|
| 405 |
+
"noop_fallbacks": 0
|
| 406 |
+
}
|
| 407 |
+
],
|
| 408 |
+
"mean_success": 0.0,
|
| 409 |
+
"mean_return": 0.0
|
| 410 |
+
}
|
| 411 |
+
},
|
| 412 |
+
"mean_success": 0.0
|
| 413 |
+
}
|
artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_put_item_in_drawer`: mean_success=0.000, returns=[0.0]
|