Add files using upload-large-folder tool

reports/dual_push_full_arch_probe_iter6_scene_ep1/summary.json

@@ -0,0 +1,45 @@
+{
+  "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt",
+  "feature_source": "scene",
+  "position_source": "vision",
+  "episodes": 1,
+  "episode_length": 120,
+  "train_episodes": [
+    0,
+    1,
+    2,
+    3,
+    4,
+    5,
+    6,
+    7,
+    8,
+    9,
+    10,
+    11,
+    12,
+    13,
+    14,
+    15,
+    16,
+    17,
+    18,
+    19
+  ],
+  "arm_mode": "planning",
+  "mean_success": 1.0,
+  "mean_return": 1.0,
+  "results": [
+    {
+      "episode": 0,
+      "language_goal": "push the olive and the orange buttons",
+      "retrieved_episode_index": 11,
+      "similarity": 0.9998629689216614,
+      "steps": 94,
+      "success": 1.0,
+      "return": 1.0,
+      "min_scale": 1.0,
+      "error": null
+    }
+  ]
+}

reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_dual_push_buttons --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualDualPushButtons",
+  "description": "push the olive and the orange buttons",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_handover_item/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_handover_item --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_handover_item/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

reports/peract2_13_launch_smoke_live/bimanual_handover_item/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualHandoverItem",
+  "description": "bring me the red item",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_handover_item_easy --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualHandoverItemEasy",
+  "description": "bring me the item",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_lift_ball/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_lift_ball --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualLiftBall",
+  "description": "Lift the ball",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_lift_tray/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_lift_tray --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualLiftTray",
+  "description": "Lift the tray",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_pick_laptop --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualPickLaptop",
+  "description": "pick up the laptop",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_pick_plate/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_pick_plate --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualPickPlate",
+  "description": "pick up the plate",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_push_box/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_push_box --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_push_box/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

reports/peract2_13_launch_smoke_live/bimanual_push_box/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualPushBox",
+  "description": "push the box to the red area",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_put_bottle_in_fridge --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stdout.txt

@@ -0,0 +1,39 @@
+[ 0.05       -0.27500001  0.75199997]
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualPutBottleInFridge",
+  "description": "put bottle in fridge",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_put_item_in_drawer --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stderr.txt

@@ -0,0 +1,7 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (True, '')).
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (True, '')).

reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualPutItemInDrawer",
+  "description": "put the item in the bottom drawer",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_straighten_rope --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stderr.txt

@@ -0,0 +1,5 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_straighten_rope. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 

reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualStraightenRope",
+  "description": "straighten rope",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_sweep_to_dustpan --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualSweepToDustpan",
+  "description": "sweep dirt to dustpan",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_take_tray_out_of_oven --resolution 224 --headless

reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stderr.txt

@@ -0,0 +1,7 @@
+WARNING:root:not sure how _robot_shapes are used is used.
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')).
+ERROR:root:robot is in collision
+ERROR:root:Error when checking waypoints. Exception is: 
+WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '')
+ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')).

reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stdout.txt

@@ -0,0 +1,38 @@
+{
+  "display": ":99",
+  "headless": true,
+  "task": "BimanualTakeTrayOutOfOven",
+  "description": "take tray out of oven",
+  "front_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_left_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "wrist_right_rgb_shape": [
+    224,
+    224,
+    3
+  ],
+  "right_pose_shape": [
+    7
+  ],
+  "left_pose_shape": [
+    7
+  ],
+  "stepped_mode": "bimanual_noop",
+  "action_finite": true,
+  "action_dim": 18,
+  "reward": 0.0,
+  "done": false,
+  "front_rgb_shape_after_step": [
+    224,
+    224,
+    3
+  ]
+}
+[CoppeliaSim:loadinfo]   done.

reports/true_baseline_compare_subset3_v1/anybimanual_live_subset3_ep1.log

@@ -0,0 +1,211 @@
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
+  warnings.warn(msg, UserWarning)
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
+See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
+  deprecation_warning(
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
+See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
+  ret = run_job(
+[2026-03-30 01:05:41,243][root][INFO] - 
+method:
+  name: PERACT_BC
+  agent_type: leader_follower
+  robot_name: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 4
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+rlbench:
+  task_name: perlf+ab
+  tasks:
+  - coordinated_push_box
+  - coordinated_lift_ball
+  - dual_push_buttons
+  demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
+  episode_length: 25
+  cameras:
+  - over_shoulder_left
+  - over_shoulder_right
+  - overhead
+  - wrist_right
+  - wrist_left
+  - front
+  camera_resolution:
+  - 256
+  - 256
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  time_in_state: true
+  headless: true
+  gripper_mode: BimanualDiscrete
+  arm_action_mode: BimanualEndEffectorPoseViaPlanning
+  action_mode: BimanualMoveArmThenGripper
+framework:
+  tensorboard_logging: true
+  csv_logging: true
+  gpu: 0
+  logdir: /workspace/baselines/AnyBimanual_evalroot
+  start_seed: 0
+  record_every_n: 5
+  eval_envs: 1
+  eval_from_eps_number: 0
+  eval_episodes: 1
+  eval_type: 60000
+  eval_save_metrics: true
+cinematic_recorder:
+  enabled: false
+  camera_resolution:
+  - 1280
+  - 720
+  fps: 30
+  rotate_speed: 0.005
+  save_path: /tmp/videos/
+
+[2026-03-30 01:05:41,254][root][INFO] - Using env device cuda:0.
+[2026-03-30 01:05:41,265][root][INFO] - Evaluating seed 0.
+[2026-03-30 01:05:41,265][root][INFO] - Using method PERACT_BC with type leader_follower
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+Weight: [60000]
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+[03/30/26 01:06:23] INFO     INFO:root:eval_env:  _independent_env_runner.py:130
+                             Launching env.                                     
+                    INFO     INFO:root:Agent      _independent_env_runner.py:133
+                             information:                                       
+                    INFO     INFO:root:<yarr.agen _independent_env_runner.py:134
+                             ts.agent.LeaderFollo                               
+                             werAgent object at                                 
+                             0x7f021882d6f0>                                    
+[03/30/26 01:06:27] INFO     INFO:root:Using dual panda robot environment.py:117
+                    INFO     INFO:root:Setting control    arm_action_modes.py:79
+                             mode for both robots                               
+                    WARNING  WARNING:root:not sure how    task_environment.py:57
+                             _robot_shapes are used is                          
+                             used.                                              
+                    INFO     INFO:root:Evaluating _independent_env_runner.py:164
+                             weight 60000                                       
+loaded weights from /workspace/baselines/AnyBimanual_evalroot/perlf+ab/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt
+loaded weights from /workspace/baselines/AnyBimanual_evalroot/perlf+ab/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt
+
+
+                             Starting episode 0,                                
+                             seed 0.                                            
+eval_demo_seed:  0
+[03/30/26 01:07:11] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
+                             left=2)                                            
+/workspace/third_party/AnyBimanual/third_party/YARR/yarr/utils/rollout_generator.py:76: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:253.)
+  prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}
+
+
+
+Finished coordinated_push_box | Final Score: unknown
+
+
+
+                             Starting episode 0,                                
+                             seed 0.                                            
+eval_demo_seed:  0
+                    WARNING  WARNING:root:not sure how    task_environment.py:57
+                             _robot_shapes are used is                          
+                             used.                                              
+[03/30/26 01:08:08] INFO     INFO:root:total waypoints 8, (right=4,  task.py:370
+                             left=4)                                            
+
+
+
+Finished coordinated_lift_ball | Final Score: 0.0
+
+add_video needs package moviepy
+
+
+                             Starting episode 0,                                
+                             seed 0.                                            
+eval_demo_seed:  0
+                    WARNING  WARNING:root:not sure how    task_environment.py:57
+                             _robot_shapes are used is                          
+                             used.                                              
+[03/30/26 01:09:11] INFO     INFO:root:total waypoints 4, (right=2,  task.py:370
+                             left=2)                                            
+
+
+
+Evaluating dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
+Finished dual_push_buttons | Final Score: unknown
+
+[03/30/26 01:09:28] INFO     INFO:root:Finished   _independent_env_runner.py:292
+                             evaluation.                                        
+[CoppeliaSim:loadinfo]   done.
+[W330 01:09:37.214689113 CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]

reports/true_baseline_compare_subset3_v1/pipeline.log

@@ -0,0 +1,7 @@
+[wait] waiting for full subset3 train split in /workspace/data/rlbench2_subset3
+[baseline] wiring AnyBimanual demo root onto subset3 data
+[baseline] AnyBimanual live sanity on overlap subset
+[train] backbone fair 100-demo subset3
+[eval] backbone fair 100-demo subset3
+[train] elastic proxy-init fair 100-demo subset3
+[eval] elastic proxy-init fair 100-demo subset3

reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_eval.log

@@ -0,0 +1,12 @@
+[peract2-sweep] running task=bimanual_push_box plan=False
+[peract2-sweep] running task=bimanual_lift_ball plan=False
+[peract2-sweep] running task=bimanual_dual_push_buttons plan=False
+[peract2-sweep] running task=bimanual_push_box plan=True
+[peract2-sweep] running task=bimanual_lift_ball plan=True
+[peract2-sweep] running task=bimanual_dual_push_buttons plan=True
+{
+  "generated": [
+    "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/rollout_eval.json",
+    "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/rollout_eval.json"
+  ]
+}

reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless

reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md

@@ -0,0 +1,14 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt`
+- Plan requested: `False`
+- Plan applied: `False`
+- Support-mode conditioning: `True`
+- Task conditioning: `True`
+- Geometry enabled: `True`
+- World-model mode: `checkpoint_default`
+- Mean success: `0.000`
+
+## Per-task
+
+- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt

@@ -0,0 +1,3 @@
+/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
+  self.cross_view_transformer = nn.TransformerEncoder(
+WARNING:root:not sure how _robot_shapes are used is used.

reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless