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"predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 114, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 115, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 116, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 117, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 118, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 119, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 119, + "noop_fallbacks": 1 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.md b/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..b237953b0119e490a909a82fcc2116e7ebc758f6 --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0] diff --git a/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.partial.json b/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..d105f5d01cbb51ef51c8d86d6e55eb7c694b2520 --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.partial.json @@ -0,0 +1,1135 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 120, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.5, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 119 + ], + "noop_fallbacks": [ + 1 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + 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a/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.json b/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..1e9c888c188951e2eba3f6c83bc74be79c54846a --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.json @@ -0,0 +1,29 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 2, + "episode_length": 120, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.md b/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..ff39cc29d86882ee0b081aa08be915d9298fc552 --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_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`: error=The call failed on the V-REP side. Return value: -1 diff --git a/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.partial.json b/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1e9c888c188951e2eba3f6c83bc74be79c54846a --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.partial.json @@ -0,0 +1,29 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 2, + "episode_length": 120, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.json b/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..1f08d1277117558dbe691aec789d560f0e3bdef1 --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": 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"predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.md b/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..1140aaacb7e5af30d9fc66df7f6eb5bf605acaee --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_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] diff --git a/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.partial.json b/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1f08d1277117558dbe691aec789d560f0e3bdef1 --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 25, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.md b/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..1140aaacb7e5af30d9fc66df7f6eb5bf605acaee --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_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] diff --git a/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.partial.json b/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..26f0d2a13e29270aba17e8bcb8bb74f56c93ecc1 --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 0.5, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 25, 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"predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.md b/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..1140aaacb7e5af30d9fc66df7f6eb5bf605acaee --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_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] diff --git a/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.partial.json b/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1ea30a203aab7f481b2deeb9b98f7439203ae91f --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.md b/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..1140aaacb7e5af30d9fc66df7f6eb5bf605acaee --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_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] diff --git a/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.partial.json b/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1ea30a203aab7f481b2deeb9b98f7439203ae91f --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + 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"planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.md b/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..67e6e03e767854ea9d73242fe2c2510c8a5f94f4 --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_weighted_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] diff --git a/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.partial.json b/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..ba0e0cead3ea4f456b082927dba36036fb6f1366 --- /dev/null +++ b/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_weighted_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ 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0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc09ee59eca3d59d0a650bd75b78ca6c203d5712 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_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/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..369c7bdf04403777a3e670dab38ba53bd5475081 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fd853d4d12655c5fb640364ae08d69fab8ce7587 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_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] diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..369c7bdf04403777a3e670dab38ba53bd5475081 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": 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"mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/command.txt b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..034dafeceb26b796f8e92fa91577ef493f28d4c2 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_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/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..616b08b6010154911d7ef28a941670d723bddb98 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 2, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..76b596aa7f03533c631bc4b3b0baabf30c9db92c --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/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_lift_ball`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..616b08b6010154911d7ef28a941670d723bddb98 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + 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"support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 2, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/command.txt b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..f0874ea24739b736108489e468a84dad857d549b --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/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/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.json b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f93a64da9e9d1ab0b2ed4fca2344ca05378c14af --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + 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"predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.md b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..f660ef66da0ac27692fd0cbd8dcb47af2f00829b --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/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_push_box`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..f93a64da9e9d1ab0b2ed4fca2344ca05378c14af --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 20, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/rollout_eval.md b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..826e6296459ef8ffa7434f90bb48d33eda826f22 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `5` +- Episode length: `25` +- Resolution: `256` +- No planner: `False` +- Arm mode: `ik` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[2, 2, 2, 2, 2], noop_fallbacks=[0, 0, 0, 0, 0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0] diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..46305dbd47d2f51da1fddac60a8aa95303b191a7 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_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/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..1e611dff51e4f06bbdda0b9047fa5507ded23d4c --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + 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"path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fd853d4d12655c5fb640364ae08d69fab8ce7587 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_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] diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1e611dff51e4f06bbdda0b9047fa5507ded23d4c --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + 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"path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/command.txt b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..3c75805fe8aa5188142547e5efe5fd8b6b0936a2 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_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/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..c7166df423745f356c385844b1fc4a18f69cadcb --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..76b596aa7f03533c631bc4b3b0baabf30c9db92c --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/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_lift_ball`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..c7166df423745f356c385844b1fc4a18f69cadcb --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + 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"mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/command.txt b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..11b51fbf2ce5db11a582945d9a204968dfad97ad --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/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/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.json b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..22192ee21321c5c7933b41eee4ddae696a0ebed6 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", 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"predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.md b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..f660ef66da0ac27692fd0cbd8dcb47af2f00829b --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/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_push_box`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..22192ee21321c5c7933b41eee4ddae696a0ebed6 --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": 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"path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 20, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/rollout_eval.md b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..0d2eca50638690c93405d881a0281046567be39a --- /dev/null +++ b/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `5` +- Episode length: `25` +- Resolution: `256` +- No planner: `False` +- Arm mode: `planning` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0] diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..80e6cb86d514842535a3d91ac1c431237739fe46 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box --task bimanual_push_box --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 10 --episode-length 180 --resolution 224 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 8 --bank-cache-dir /workspace/reports/rlbench_general_debug/knn_bank_cache --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 --headless diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..430b20955521296d77ff12db70e095282eec0209 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json @@ -0,0 +1,159 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_759bd0202db119fd.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "returns": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.7, + "mean_return": 0.7 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stderr.txt b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/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. diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..288a557bfe5de5c853d1d4b16c5efd0120ca625d --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt @@ -0,0 +1,160 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_759bd0202db119fd.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "returns": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.7, + "mean_return": 0.7 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..ba01983198143813a427510e02b657a9c9f308bc --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json @@ -0,0 +1,266 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "device": "cuda", + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_batch_size": 32, + "bank_stride": 1, + "bank_num_workers": 8, + "bank_cache_dir": "/workspace/reports/rlbench_general_debug/knn_bank_cache", + "top_k": 1, + "time_window": 4, + "reset_retries": 20, + "tasks": { + "bimanual_push_box": { + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_759bd0202db119fd.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "returns": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.7, + "mean_return": 0.7, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 1, + "error_tasks": [], + "mean_success": 0.7 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..4f8499e4954588bc6170823312b03bf47ca2a8ed --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md @@ -0,0 +1,23 @@ +# RLBench kNN Task Sweep + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt` +- Dataset root: `/workspace/data/rlbench2_subset3` +- Episodes per task: `10` +- Episode length: `180` +- Resolution: `224` +- Arm mode: `ik` +- Delta scale: `1.0` +- Top-k: `1` +- Time window: `4` +- Bank stride: `1` +- Bank batch size: `32` +- Bank workers: `8` +- Reset retries: `20` +- Train episodes: `[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79]` +- Task count: `1` +- Error tasks: `[]` +- Mean success: `0.700` + +## Per-task + +- `bimanual_push_box`: mean_success=0.700, mean_return=0.700, bank_size=11259, path_recoveries=[0, 0, 0, 0, 0, 0, 1, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0], error=None, subprocess_returncode=0 diff --git a/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..13bf4793e70ccd4025f4bf86aee3c11c8115acd7 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box --task bimanual_push_box --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 10 --episode-length 180 --resolution 224 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 8 --bank-cache-dir /workspace/reports/rlbench_general_debug/knn_bank_cache --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 --headless diff --git a/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..8a71d62f5bd543fa58302d1c423b530a2f40ece2 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json @@ -0,0 +1,159 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_5a08892f2a4d1e1d.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.4, + "mean_return": 0.4 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stderr.txt b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/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. diff --git a/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..79e326b6fed1c78a0dcb047bdeb799aad4d60c15 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt @@ -0,0 +1,160 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_5a08892f2a4d1e1d.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.4, + "mean_return": 0.4 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..4e18b3ff4a58da8b3c9e967458a8af6d86567ef0 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json @@ -0,0 +1,266 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "device": "cuda", + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_batch_size": 32, + "bank_stride": 1, + "bank_num_workers": 8, + "bank_cache_dir": "/workspace/reports/rlbench_general_debug/knn_bank_cache", + "top_k": 1, + "time_window": 4, + "reset_retries": 20, + "tasks": { + "bimanual_push_box": { + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_5a08892f2a4d1e1d.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.4, + "mean_return": 0.4, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 1, + "error_tasks": [], + "mean_success": 0.4 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..4e73fde3f2c49b848434934edd7b1b75b27db3fb --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md @@ -0,0 +1,23 @@ +# RLBench kNN Task Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt` +- Dataset root: `/workspace/data/rlbench2_subset3` +- Episodes per task: `10` +- Episode length: `180` +- Resolution: `224` +- Arm mode: `ik` +- Delta scale: `1.0` +- Top-k: `1` +- Time window: `4` +- Bank stride: `1` +- Bank batch size: `32` +- Bank workers: `8` +- Reset retries: `20` +- Train episodes: `[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79]` +- Task count: `1` +- Error tasks: `[]` +- Mean success: `0.400` + +## Per-task + +- `bimanual_push_box`: mean_success=0.400, mean_return=0.400, bank_size=11259, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0], error=None, subprocess_returncode=0 diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/command.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..22949f922346730cd0aed6306cc17304d8121340 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box --task bimanual_push_box --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 8 --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 --headless diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/stderr.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..ab78baf04a3480bf01477aacca6d947c8546aa7b --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/stderr.txt @@ -0,0 +1,8 @@ +/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( +qt.qpa.xcb: could not connect to display +qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "/workspace/assets/coppeliasim_v4_1_0" even though it was found. +This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem. + +Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, webgl, xcb. + diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/stdout.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/command.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..b796ea77e39673aa3b8ad19a483866fc479f1527 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons --task bimanual_dual_push_buttons --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 0 --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 --headless diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/command.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..b94e0d81cbffff36982a49fb4c516c06fea4b0be --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball --task bimanual_lift_ball --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 0 --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 --headless diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/stderr.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..0c3880a6503c84fb837de245f328fcd02ae818c7 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/stderr.txt @@ -0,0 +1,2 @@ +/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( diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/stdout.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/command.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..c8029a388fd7b78545d52ea05ba9d6a381826fd8 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box --task bimanual_push_box --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 0 --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 --headless diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/rollout_eval.json b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..b7d5b41661abc2a77bd06594e8501d6e6d44be57 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/rollout_eval.json @@ -0,0 +1,143 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "top_k": 1, + "time_window": 4, + "bank_size": 12626, + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.0, + "mean_return": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stderr.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/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. diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stdout.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..0da6f3ec2479ef902aabb5aba2ae4f1ee1652d12 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stdout.txt @@ -0,0 +1,144 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "top_k": 1, + "time_window": 4, + "bank_size": 12626, + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.0, + "mean_return": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..3da84665e0332a1df49b8f3151cb1a28f6f32019 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_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_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt --output-dir /workspace/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_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 diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..bd05db461cac5bac80b389cd72c7ea71e05e177b --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 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 + ], + "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 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 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"path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..dd2d558a84fa82324720d1898246e6de70611119 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_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] diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..bd05db461cac5bac80b389cd72c7ea71e05e177b --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 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 + ], + "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 + ], + "path_recoveries": [ + 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 + ], + "noop_fallbacks": [ + 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 + ], + "reset_retries": [ + 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 + ], + "episode_traces": [ + { + 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/command.txt b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..8c17b188c77d6e6f75e94e5496941e5166614b99 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_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_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt --output-dir /workspace/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_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 diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..6579c0f9166246be23de8c9f60cb22a5f548d541 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "CoordinatedLiftBall", + "successes": [ + 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 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+ ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..e862882bf44b14e9c1c91666be8349c692b3764f --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_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_lift_ball`: 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] diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..6579c0f9166246be23de8c9f60cb22a5f548d541 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "CoordinatedLiftBall", + "successes": [ + 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 + ], + "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, 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a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/stderr.txt b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..257e896794164e4c3106988d64757175827d51cd --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,5 @@ +/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. +WARNING:root:Waypoints are not reachable right=(True, '') left=(False, 'waypoint1 - DualPanda') +ERROR:root:Error when checking waypoints. Exception is: Error in task coordinated_lift_ball. Infeasible episode. Can't reach waypoint ((True, ''), (False, 'waypoint1 - DualPanda')). diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/stdout.txt b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..da8147623dfb1343588177f94a63779d748a09ad --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,6018 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": 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100644 index 0000000000000000000000000000000000000000..c1ef84cdb94056577c70618362d8ff83609006d1 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt --output-dir /workspace/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box --tasks bimanual_push_box --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 diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.json b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..8f7339ccc108447c11d76692f5f5a84406d59d70 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "CoordinatedPushBox", + "successes": [ + 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 + ], + "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 + ], + "path_recoveries": [ + 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 + ], + "noop_fallbacks": [ + 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 + ], + "reset_retries": [ + 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 + ], + "episode_traces": [ + { + "language_goal": "push the box to 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.md b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d2a253c1cdd4e43eb954c17e6341603f40b203e5 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_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_push_box`: 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] diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..8f7339ccc108447c11d76692f5f5a84406d59d70 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "CoordinatedPushBox", + "successes": [ + 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 + ], + "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 + ], + "path_recoveries": [ + 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 + ], + "noop_fallbacks": [ + 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 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 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"steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 20, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/rollout_eval.md b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..60d6c2cd3645fbb3632501727b1671a6fee1f1a2 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `25` +- Episode length: `25` +- Resolution: `256` +- No planner: `False` +- Arm mode: `planning` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[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], noop_fallbacks=[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] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[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], noop_fallbacks=[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] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[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], noop_fallbacks=[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] diff --git a/reports/rvt_overlap_branch_20260330/gate_stage1.txt b/reports/rvt_overlap_branch_20260330/gate_stage1.txt new file mode 100644 index 0000000000000000000000000000000000000000..cb05f6420460b66dd7389daa7c9eba1fa2ee881f --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/gate_stage1.txt @@ -0,0 +1 @@ +[gate] stage1_mean_success=0.0 local_floor=0.16 run_stage2=0 diff --git a/reports/rvt_overlap_branch_20260330/knn_push_box_recovered_ep10/rollout_eval.json b/reports/rvt_overlap_branch_20260330/knn_push_box_recovered_ep10/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..10d06d7dbbe6d0e9cdb39ab38d58c9840e412cfb --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/knn_push_box_recovered_ep10/rollout_eval.json @@ -0,0 +1,159 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rvt_overlap_branch_20260330/knn_bank_cache/bank_bimanual_push_box_a063f1aa42cca94f.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 13, + 18, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + "The call failed on the V-REP side by returning null.", + "The call failed on the V-REP side. Return value: -1", + "The call failed on the V-REP side. Return value: -1", + "The call failed on the V-REP side. Return value: -1", + "The call failed on the V-REP side. Return value: -1", + "The call failed on the V-REP side. Return value: -1", + "The call failed on the V-REP side. Return value: -1" + ], + "mean_success": 0.0, + "mean_return": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.json b/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..926939b6073dfa8bca740f004dec6b76b8b3b4ef --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.json @@ -0,0 +1,29 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 5, + "resolution": 256, + "reset_retries": 2, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "error": "No module named 'rlbench.bimanual_tasks.coordinated_push_box'", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.md b/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..f3aaa9f40fbb466abd1a7395296a588188e069c6 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_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_push_box`: error=No module named 'rlbench.bimanual_tasks.coordinated_push_box' diff --git a/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.partial.json b/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..926939b6073dfa8bca740f004dec6b76b8b3b4ef --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.partial.json @@ -0,0 +1,29 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 5, + "resolution": 256, + "reset_retries": 2, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "error": "No module named 'rlbench.bimanual_tasks.coordinated_push_box'", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_20260330/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_train.log b/reports/rvt_overlap_branch_20260330/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_train.log new file mode 100644 index 0000000000000000000000000000000000000000..7b4501029d26bef7c1d680e5f42ff4df379c9db9 --- /dev/null +++ b/reports/rvt_overlap_branch_20260330/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_train.log @@ -0,0 +1,795 @@ +{"phase": "datasets_ready", "train_samples": 34014, "val_samples": 3728} + Loading weights: 0%| | 0/197 [00:00