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False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_knn_eval.py", line 362, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_knn_eval.py", line 221, in main + bank = _encode_bank( + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_knn_eval.py", line 61, in _encode_bank + for batch in loader: + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 741, in __next__ + data = self._next_data() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/utils/data/dataloader.py", line 801, in _next_data + data = self._dataset_fetcher.fetch(index) # may raise StopIteration + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/utils/data/_utils/fetch.py", line 52, in fetch + data = self.dataset.__getitems__(possibly_batched_index) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/utils/data/dataset.py", line 443, in __getitems__ + return [self.dataset[self.indices[idx]] for idx in indices] + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/utils/data/dataset.py", line 443, in + return [self.dataset[self.indices[idx]] for idx in indices] + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/sim_rlbench/dataset.py", line 649, in __getitem__ + "images": self._load_rgb_stack(episode.episode_dir, sample.step_index), + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/sim_rlbench/dataset.py", line 479, in _load_rgb_stack + image = Image.open(image_path).convert("RGB") + File "/workspace/envs/rlbench/lib/python3.10/site-packages/PIL/Image.py", line 967, in convert + self.load() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/PIL/ImageFile.py", line 420, in load + self.fp.close() +KeyboardInterrupt diff --git a/reports/dual_push_chunk8_20260330/train.log b/reports/dual_push_chunk8_20260330/train.log new file mode 100644 index 0000000000000000000000000000000000000000..415703f541ae706b3cb78ded3dde06680bba4521 --- /dev/null +++ b/reports/dual_push_chunk8_20260330/train.log @@ -0,0 +1,163 @@ +{"phase": "datasets_ready", "train_samples": 9426, "val_samples": 1037} +/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( +{"phase": "training_start", "epochs": 4} +{"phase": "epoch_complete", "epoch": 0, "train_total": 0.01745892923475259, "val_total": 0.09288312419966767, "best_val_total": 0.09288312419966767, "best_checkpoint_updated": true, "epoch_seconds": 52.788121938705444} +{"phase": "epoch_complete", "epoch": 1, "train_total": 0.00313741604292418, "val_total": 0.08913456219968131, "best_val_total": 0.08913456219968131, "best_checkpoint_updated": true, "epoch_seconds": 49.54125690460205} +{"phase": "epoch_complete", "epoch": 2, "train_total": 0.002474825539610396, "val_total": 0.08298475654781655, "best_val_total": 0.08298475654781655, "best_checkpoint_updated": true, "epoch_seconds": 50.042465686798096} +{"phase": "epoch_complete", "epoch": 3, "train_total": 0.001929562073200941, "val_total": 0.1011313672748987, "best_val_total": 0.08298475654781655, "best_checkpoint_updated": false, "epoch_seconds": 50.351279497146606} +{ + "experiment_name": "rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17", + "device": "cuda", + "best_checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", + "final_train_total": 0.001929562073200941, + "final_val_total": 0.1011313672748987, + "train_dataset": { + "dataset_root": "/workspace/data/rlbench2_subset3", + "tasks": [ + "bimanual_dual_push_buttons" + ], + "episode_indices": [ + 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 + ], + "num_episodes": 90, + "num_samples": 9426, + "resolution": 256, + "chunk_size": 8, + "proprio_dim": 32, + "history_steps": 2, + "supervise_action_steps": 8, + "action_norm_mean": 0.09223783761262894, + "action_norm_p90": 0.048376915976405144 + }, + "val_dataset": { + "dataset_root": "/workspace/data/rlbench2_subset3", + "tasks": [ + "bimanual_dual_push_buttons" + ], + "episode_indices": [ + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99 + ], + "num_episodes": 10, + "num_samples": 1037, + "resolution": 256, + "chunk_size": 8, + "proprio_dim": 32, + "history_steps": 2, + "supervise_action_steps": 8, + "action_norm_mean": 0.09317709505558014, + "action_norm_p90": 0.04960222616791725 + }, + "init_info": { + "path": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_weighted_seed17/checkpoint_best.pt", + "loaded_keys": 658, + "skipped_shape_mismatch_keys": [], + "missing_keys": [], + "unexpected_keys": [] + }, + "planner_mode": "trainable", + "plan_enabled_for_train": false, + "plan_enabled_for_eval": false, + "frozen_modules": [], + "trainable_parameter_prefixes": [], + "trainable_parameter_names": [], + "train_seconds": 206.01950120925903 +} diff --git a/reports/dual_push_finetune_20260330/train.log b/reports/dual_push_finetune_20260330/train.log new file mode 100644 index 0000000000000000000000000000000000000000..4e0324fd1b2597e4362c5e68cde2a528aa90b8ef --- /dev/null +++ b/reports/dual_push_finetune_20260330/train.log @@ -0,0 +1,1603 @@ +{"phase": "datasets_ready", "train_samples": 9426, "val_samples": 1037} +/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( +{"phase": "training_start", "epochs": 8} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 0, "train_total": 0.06203938125182827, "val_total": 0.05916558677387057, "best_val_total": 0.05916558677387057, "best_checkpoint_updated": true, "epoch_seconds": 50.909680128097534} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 1, "train_total": 0.057649073335026405, "val_total": 0.06655417485021506, "best_val_total": 0.05916558677387057, "best_checkpoint_updated": false, "epoch_seconds": 48.0729398727417} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 2, "train_total": 0.0601920383599571, "val_total": 0.04444769710288242, "best_val_total": 0.04444769710288242, "best_checkpoint_updated": true, "epoch_seconds": 49.90223431587219} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 3, "train_total": 0.057148987053640944, "val_total": 0.04241485108628474, "best_val_total": 0.04241485108628474, "best_checkpoint_updated": true, "epoch_seconds": 47.9948456287384} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 4, "train_total": 0.17593702989930318, "val_total": 0.05745924560522491, "best_val_total": 0.04241485108628474, "best_checkpoint_updated": false, "epoch_seconds": 49.98115372657776} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 5, "train_total": 0.05167785599093758, "val_total": 0.03427611653707131, "best_val_total": 0.03427611653707131, "best_checkpoint_updated": true, "epoch_seconds": 56.693320512771606} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 6, "train_total": 0.05215835783539845, "val_total": 0.04725971340314683, "best_val_total": 0.03427611653707131, "best_checkpoint_updated": false, "epoch_seconds": 69.78188872337341} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 7, "train_total": 0.05064632325014889, "val_total": 0.05022781986079997, "best_val_total": 0.03427611653707131, "best_checkpoint_updated": false, "epoch_seconds": 49.291959285736084} +{ + "experiment_name": "rlbench_dual_push_backbone_only_clip_finetune_seed17", + "device": "cuda", + "best_checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "final_train_total": 0.05064632325014889, + "final_val_total": 0.05022781986079997, + "train_dataset": { + "dataset_root": "/workspace/data/rlbench2_subset3", + "tasks": [ + "bimanual_dual_push_buttons" + ], + "episode_indices": [ + 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 + ], + "num_episodes": 90, + "num_samples": 9426, + "resolution": 256, + "chunk_size": 8, + "proprio_dim": 32, + "history_steps": 2, + "supervise_action_steps": 1 + }, + "val_dataset": { + "dataset_root": "/workspace/data/rlbench2_subset3", + "tasks": [ + "bimanual_dual_push_buttons" + ], + "episode_indices": [ + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99 + ], + "num_episodes": 10, + "num_samples": 1037, + "resolution": 256, + "chunk_size": 8, + "proprio_dim": 32, + "history_steps": 2, + "supervise_action_steps": 1 + }, + "init_info": { + "path": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "loaded_keys": 658, + "skipped_shape_mismatch_keys": [], + "missing_keys": [], + "unexpected_keys": [] + }, + "planner_mode": "trainable", + "plan_enabled_for_train": false, + "plan_enabled_for_eval": false, + "frozen_modules": [], + "trainable_parameter_prefixes": [], + "trainable_parameter_names": [], + "train_seconds": 425.96609020233154 +} diff --git a/reports/dual_push_full_arch_hybrid_iter6_backbone_ep1/summary.json b/reports/dual_push_full_arch_hybrid_iter6_backbone_ep1/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..3338e56ab3f4afa7b73da77e3f3c7c50cf4cce1a --- /dev/null +++ b/reports/dual_push_full_arch_hybrid_iter6_backbone_ep1/summary.json @@ -0,0 +1,1685 @@ +{ + "controller_checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt", + 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index 0000000000000000000000000000000000000000..0f904bb79181c657bf7867c32667564ee23fd2c5 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c1_s005/stderr.txt @@ -0,0 +1,20 @@ +/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: QApplication was not created in the main() thread. +WARNING:root:not sure how _robot_shapes are used is used. + + +Error: signal 11: + +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_Z11_segHandleri+0x30)[0x76ae9a70aae0] +/lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x76b059c62520] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x76ae98991060] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x76ae98c5da4b] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x76ae98c61a18] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x76b055a9b24a] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x76b055a9b602] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x76b055a99b90] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x76ae9a8d4249] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x76ae9a5db107] +QMutex: destroying locked mutex diff --git a/reports/rlbench_common23_exec_calib/ik_c1_s005/stdout.txt b/reports/rlbench_common23_exec_calib/ik_c1_s005/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc73ed560102f80e1ff90f49666a6fca4dec4219 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c1_s005/stdout.txt @@ -0,0 +1,2 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib/ik_c1_s01/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib/ik_c1_s01/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..b40707a9893a342aec5bab529caf2fef52ba5c87 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c1_s01/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + 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"path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib/ik_c1_s01/stderr.txt b/reports/rlbench_common23_exec_calib/ik_c1_s01/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..33f190c4cc43737be5cdae6f9ff9253835110f68 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c1_s01/stderr.txt @@ -0,0 +1,20 @@ +/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: QApplication was not created in the main() thread. +WARNING:root:not sure how _robot_shapes are used is used. + + +Error: signal 11: + +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_Z11_segHandleri+0x30)[0x763a67b0aae0] +/lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x763c27748520] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x763a65d91060] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x763a6605da4b] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x763a66061a18] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x763c2369b24a] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x763c2369b602] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x763c23699b90] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x763a67cd4249] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x763a679db107] +QMutex: destroying locked mutex diff --git a/reports/rlbench_common23_exec_calib/ik_c1_s01/stdout.txt b/reports/rlbench_common23_exec_calib/ik_c1_s01/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc73ed560102f80e1ff90f49666a6fca4dec4219 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c1_s01/stdout.txt @@ -0,0 +1,2 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib/ik_c1_s1/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib/ik_c1_s1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..8b17042889f70c98cacaa04515b3545a2e3b4474 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c1_s1/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 19 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 19, + "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_common23_exec_calib/ik_c1_s1/stderr.txt b/reports/rlbench_common23_exec_calib/ik_c1_s1/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3f8f3ebe0789e75e15c6c9341591807fdb2596d --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c1_s1/stderr.txt @@ -0,0 +1,20 @@ +/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: QApplication was not created in the main() thread. +WARNING:root:not sure how _robot_shapes are used is used. + + +Error: signal 11: + +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_Z11_segHandleri+0x30)[0x74223bd0aae0] +/lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x7423fb826520] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x742239f91060] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x74223a25da4b] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x74223a261a18] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x7423f769b24a] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x7423f769b602] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x7423f7699b90] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x74223bed4249] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x74223bbdb107] +QMutex: destroying locked mutex diff --git a/reports/rlbench_common23_exec_calib/ik_c1_s1/stdout.txt b/reports/rlbench_common23_exec_calib/ik_c1_s1/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc73ed560102f80e1ff90f49666a6fca4dec4219 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c1_s1/stdout.txt @@ -0,0 +1,2 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib/ik_c4_s1/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib/ik_c4_s1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..d7dd53c76b3305249581105cf8bda3e521e7210e --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c4_s1/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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 + } + ], + "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_common23_exec_calib/ik_c4_s1/stderr.txt b/reports/rlbench_common23_exec_calib/ik_c4_s1/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..9603ac98759e71053276050448fac6edd660a0ea --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c4_s1/stderr.txt @@ -0,0 +1,20 @@ +/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: QApplication was not created in the main() thread. +WARNING:root:not sure how _robot_shapes are used is used. + + +Error: signal 11: + +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_Z11_segHandleri+0x30)[0x75312e90aae0] +/lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x7532edf50520] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x75312cb91060] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x75312ce5da4b] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x75312ce61a18] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x7532e9e9b24a] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x7532e9e9b602] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x7532e9e99b90] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x75312ead4249] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x75312e7db107] +QMutex: destroying locked mutex diff --git a/reports/rlbench_common23_exec_calib/ik_c4_s1/stdout.txt b/reports/rlbench_common23_exec_calib/ik_c4_s1/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc73ed560102f80e1ff90f49666a6fca4dec4219 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/ik_c4_s1/stdout.txt @@ -0,0 +1,2 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib/plan_c4_s1/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib/plan_c4_s1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..92e3982e29a89ea44a071eeec23e1fa8dea29b4b --- /dev/null +++ b/reports/rlbench_common23_exec_calib/plan_c4_s1/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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 + } + ], + "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_common23_exec_calib/plan_c4_s1/stderr.txt b/reports/rlbench_common23_exec_calib/plan_c4_s1/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e92d13ce33dc4ef19ffc38a57c633baeb41d3af4 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/plan_c4_s1/stderr.txt @@ -0,0 +1,20 @@ +/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: QApplication was not created in the main() thread. +WARNING:root:not sure how _robot_shapes are used is used. + + +Error: signal 11: + +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_Z11_segHandleri+0x30)[0x73c5ef50aae0] +/lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x73c7ae0d2520] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x73c5ed791060] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x73c5eda5da4b] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x73c5eda61a18] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x73c7a9e9b24a] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x73c7a9e9b602] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x73c7a9e99b90] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x73c5ef6d4249] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x73c5ef3db107] +QMutex: destroying locked mutex diff --git a/reports/rlbench_common23_exec_calib/plan_c4_s1/stdout.txt b/reports/rlbench_common23_exec_calib/plan_c4_s1/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc73ed560102f80e1ff90f49666a6fca4dec4219 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/plan_c4_s1/stdout.txt @@ -0,0 +1,2 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib/summary.json b/reports/rlbench_common23_exec_calib/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1ca7b3e1866f6c4834c3085d5dee3dae58356640 --- /dev/null +++ b/reports/rlbench_common23_exec_calib/summary.json @@ -0,0 +1,57 @@ +[ + { + "config": { + "name": "plan_c4_s1", + "arm_mode": "planning", + "chunk_commit_steps": 4, + "delta_scale": 1.0 + }, + "returncode": 1, + "mean_success": null, + "stderr_tail": "kspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x73c5ed791060]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x73c5eda5da4b]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x73c5eda61a18]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x73c7a9e9b24a]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x73c7a9e9b602]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x73c7a9e99b90]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x73c5ef6d4249]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x73c5ef3db107]\nQMutex: destroying locked mutex\n" + }, + { + "config": { + "name": "ik_c4_s1", + "arm_mode": "ik", + "chunk_commit_steps": 4, + "delta_scale": 1.0 + }, + "returncode": 1, + "mean_success": null, + "stderr_tail": "kspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x75312cb91060]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x75312ce5da4b]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x75312ce61a18]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x7532e9e9b24a]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x7532e9e9b602]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x7532e9e99b90]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x75312ead4249]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x75312e7db107]\nQMutex: destroying locked mutex\n" + }, + { + "config": { + "name": "ik_c1_s1", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 1.0 + }, + "returncode": 1, + "mean_success": null, + "stderr_tail": "kspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x742239f91060]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x74223a25da4b]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x74223a261a18]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x7423f769b24a]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x7423f769b602]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x7423f7699b90]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x74223bed4249]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x74223bbdb107]\nQMutex: destroying locked mutex\n" + }, + { + "config": { + "name": "ik_c1_s01", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 0.1 + }, + "returncode": 1, + "mean_success": null, + "stderr_tail": "kspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x763a65d91060]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x763a6605da4b]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x763a66061a18]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x763c2369b24a]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x763c2369b602]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x763c23699b90]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x763a67cd4249]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x763a679db107]\nQMutex: destroying locked mutex\n" + }, + { + "config": { + "name": "ik_c1_s005", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 0.05 + }, + "returncode": 1, + "mean_success": null, + "stderr_tail": "kspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x76ae98991060]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x76ae98c5da4b]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x76ae98c61a18]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x76b055a9b24a]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x76b055a9b602]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x76b055a99b90]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x76ae9a8d4249]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x76ae9a5db107]\nQMutex: destroying locked mutex\n" + } +] \ No newline at end of file diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..11e88d3d713c0953962116215ac3253150afe5b7 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.05 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..e95aff498b8d480a3ba9598888b146a6e758b723 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6568ca27962f2fb30e2e5b66e6e3acf4f705c233 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..e95aff498b8d480a3ba9598888b146a6e758b723 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b9b592cb48740610148d9aaa75aeea310bec2a0 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..ffceaf9dde57b1dfd93b815a8ac6945ad10a7e6f --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.05 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c5d35a46ca7c5bcea4f92108086977137c15d2 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..64ae08894887373a736d55ba999caeda0e32e2b6 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c5d35a46ca7c5bcea4f92108086977137c15d2 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/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_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..ddc1748b3794bea34328b67f0084fa327a5389c3 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..420e5c8ce27f6e69ec39668fd92ebfeb838bafd9 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.05 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..b540b9391eea1254e34f43358fecf5356bc50cc7 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..b540b9391eea1254e34f43358fecf5356bc50cc7 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/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_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..ac6f2fd855f83c65984693256855de16abbb9b8f --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..b17c4aa9bbbd4a67aad17031bd9c76d12fbf4d9b --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.json @@ -0,0 +1,661 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "arm_mode": "ik", + "delta_scale": 0.05, + "reset_retries": 20, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_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_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..947d74455062d6b630bf912f7f9499bd6054fc71 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Arm mode: `ik` +- Delta scale: `0.05` +- 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=[20], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/sweep_stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/sweep_stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/sweep_stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/sweep_stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..23dbc0e2ef2e2f7416de4632a1c5d3d3a0b14606 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/sweep_stdout.txt @@ -0,0 +1,8 @@ +[peract2-sweep] running task=bimanual_push_box plan=False +[peract2-sweep] running task=bimanual_lift_ball plan=False +[peract2-sweep] running task=bimanual_dual_push_buttons plan=False +{ + "generated": [ + "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.json" + ] +} diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..c100a9c0dad5848e6b9013194777c141979b611f --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.1 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..a59dffbd2a71ced799814c50c4ce4d60979d81f6 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6568ca27962f2fb30e2e5b66e6e3acf4f705c233 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..a59dffbd2a71ced799814c50c4ce4d60979d81f6 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..7616c2ba4f5a3b0330d722c124dffb186eedf6be --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..e208745c35bdd6405261c830022da9b072adadfc --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.1 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..87214e6ac24bd80a652fca0946ae1f500e80e00f --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..64ae08894887373a736d55ba999caeda0e32e2b6 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..87214e6ac24bd80a652fca0946ae1f500e80e00f --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/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_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..ba13dd7bdbad8f714ed0c795527ce336416e3846 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..62b1bf0a927c54dac2e853394d9f154ec55bd304 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.1 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..b40707a9893a342aec5bab529caf2fef52ba5c87 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..b40707a9893a342aec5bab529caf2fef52ba5c87 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 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[ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_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_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d759159621c0ff39f31573d7d90ffd940d6749c6 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Arm mode: `ik` +- Delta scale: `0.1` +- 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=[20], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/sweep_stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/sweep_stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/sweep_stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/sweep_stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e8339ef8a4800cf78d99c08fb4b317607ef8fb74 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/sweep_stdout.txt @@ -0,0 +1,8 @@ +[peract2-sweep] running task=bimanual_push_box plan=False +[peract2-sweep] running task=bimanual_lift_ball plan=False +[peract2-sweep] running task=bimanual_dual_push_buttons plan=False +{ + "generated": [ + "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.json" + ] +} diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..c6b1f38d300cc6351782cc238708ee8f1edd8f94 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..c0a1662d6e810e9dbbd50727f94ba1cd3186e36c --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6568ca27962f2fb30e2e5b66e6e3acf4f705c233 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..c0a1662d6e810e9dbbd50727f94ba1cd3186e36c --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "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_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..eb1fc0f61095e2f22c58e65e7d1bcb09b6bd7d07 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..9483543ef96b3309da482f850bb7ec6bb7d06c72 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..0f650eec8bd723fd1fc331428c9cb5531b4f09e5 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 17 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 17, + "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_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..64ae08894887373a736d55ba999caeda0e32e2b6 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..0f650eec8bd723fd1fc331428c9cb5531b4f09e5 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 17 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 17, + "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_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/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_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..07cfafe5eb9aee3d3bdae781c88ea62254d1dab1 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 17 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 17, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..1da71e6dabea7435ef32cd97b9e073a23bacc4e6 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..8b17042889f70c98cacaa04515b3545a2e3b4474 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 19 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 19, + "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_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..8b17042889f70c98cacaa04515b3545a2e3b4474 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 19 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "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": 19, + "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_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/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_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/stdout.txt 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0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_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_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..02f3be1ea4d1dc9f138aff49208fa9fc5eca110f --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- 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=[19], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[17], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/sweep_stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/sweep_stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/sweep_stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/sweep_stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..97948ad9037385f99b3346703689f24df4018b5b --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/sweep_stdout.txt @@ -0,0 +1,8 @@ +[peract2-sweep] running task=bimanual_push_box plan=False +[peract2-sweep] running task=bimanual_lift_ball plan=False +[peract2-sweep] running task=bimanual_dual_push_buttons plan=False +{ + "generated": [ + "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.json" + ] +} diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..4ca60bb4fccf9b8c27c2d1ca39ac000b9482f108 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf06ff66746ab1e88d990207cc1bd62ee1a518a --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 1 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 1, + "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_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6568ca27962f2fb30e2e5b66e6e3acf4f705c233 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf06ff66746ab1e88d990207cc1bd62ee1a518a --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 1 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 1, + "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_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..23e77b7e0a70a5f79375dc07de5460edecb105f7 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 1 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..7c12a247bb6623ebc0f50788fcb93fc9d2288fa0 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8d07693713faa4092c1b685999c65f0af0ded3 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "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_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..64ae08894887373a736d55ba999caeda0e32e2b6 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8d07693713faa4092c1b685999c65f0af0ded3 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "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_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/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_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..88605dd5ba52bb0b9352548574b8fe7204631a68 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "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_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/command.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..51169999a97b2ad114480b7d1c000f9d165e8ac2 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..d7dd53c76b3305249581105cf8bda3e521e7210e --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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 + } + ], + "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_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..d7dd53c76b3305249581105cf8bda3e521e7210e --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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 + } + ], + "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_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/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_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..73f2636618798857ccdfe699976e0c38357aee18 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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 + } + ], + "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_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..71abe1c81fdf06eb1af423337c32bfd4cc3c17bd --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.json @@ -0,0 +1,661 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "arm_mode": "ik", + "delta_scale": 1.0, + "reset_retries": 20, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + 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"/workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + }, + { + 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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 + } + ], + "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_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 1 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_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_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..e481c3bc9f173ddc4a77353759781ce12e71d494 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- 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], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[1], noop_fallbacks=[0] diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/sweep_stderr.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/sweep_stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/sweep_stdout.txt b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/sweep_stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..02a577549774e8592228102825c75da3381e4b75 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/sweep_stdout.txt @@ -0,0 +1,8 @@ +[peract2-sweep] running task=bimanual_push_box plan=False +[peract2-sweep] running task=bimanual_lift_ball plan=False +[peract2-sweep] running task=bimanual_dual_push_buttons plan=False +{ + "generated": [ + "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.json" + ] +} diff --git a/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..d5a20166a409af83c91cf9ce83cc5008353aeb73 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..08d0c5718a47490f27d56a68fa01d65a05199f9c --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "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 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "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": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6568ca27962f2fb30e2e5b66e6e3acf4f705c233 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..08d0c5718a47490f27d56a68fa01d65a05199f9c --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "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 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "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": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e9cda900f08bed8947e9ed65e199ebd7b630137 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "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 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "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": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/command.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a1ef8213301b240ab21188623c131451d627e04 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f84263f45e5a3e36b733f1b222aba7c6ccfa0b0f --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "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 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..64ae08894887373a736d55ba999caeda0e32e2b6 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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] diff --git a/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..f84263f45e5a3e36b733f1b222aba7c6ccfa0b0f --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "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 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stderr.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..f577c9f1913903d6f85480d6549ef98eb137bb1e --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "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 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/command.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..e6fc85d95b900e2daeb9d613f29037ad0bebb7db --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..92e3982e29a89ea44a071eeec23e1fa8dea29b4b --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..92e3982e29a89ea44a071eeec23e1fa8dea29b4b --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stderr.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stdout.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..ff14cc7068bb42aafc60976c734a12ba01d4e973 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.json b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..122f7a5a3bd682569b6b95165dbbd651f5c2c808 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.json @@ -0,0 +1,661 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "arm_mode": "planning", + "delta_scale": 1.0, + "reset_retries": 20, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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, 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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": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "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": 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 + } + ], + "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_common23_exec_calib_iso/plan_c4_s1_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_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.md b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d6e84e8d561498cfce541e6539ec87fe15668aa7 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- 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], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] diff --git a/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/sweep_stderr.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/sweep_stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/sweep_stdout.txt b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/sweep_stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc9b7187b089d48c2ff8ba519429fa5218b8fea5 --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/sweep_stdout.txt @@ -0,0 +1,8 @@ +[peract2-sweep] running task=bimanual_push_box plan=False +[peract2-sweep] running task=bimanual_lift_ball plan=False +[peract2-sweep] running task=bimanual_dual_push_buttons plan=False +{ + "generated": [ + "/workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.json" + ] +} diff --git a/reports/rlbench_common23_exec_calib_iso/summary.json b/reports/rlbench_common23_exec_calib_iso/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4306efcc5fdf7576514a5c839a24aa688fc6d7bd --- /dev/null +++ b/reports/rlbench_common23_exec_calib_iso/summary.json @@ -0,0 +1,87 @@ +[ + { + "config": { + "name": "plan_c4_s1", + "arm_mode": "planning", + "chunk_commit_steps": 4, + "delta_scale": 1.0 + }, + "returncode": 0, + "run_dir": "/workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split", + "mean_success": 0.0, + "tasks": { + "bimanual_push_box": 0.0, + "bimanual_lift_ball": 0.0, + "bimanual_dual_push_buttons": 0.0 + }, + "error_tasks": [] + }, + { + "config": { + "name": "ik_c4_s1", + "arm_mode": "ik", + "chunk_commit_steps": 4, + "delta_scale": 1.0 + }, + "returncode": 0, + "run_dir": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split", + "mean_success": 0.0, + "tasks": { + "bimanual_push_box": 0.0, + "bimanual_lift_ball": 0.0, + "bimanual_dual_push_buttons": 0.0 + }, + "error_tasks": [] + }, + { + "config": { + "name": "ik_c1_s1", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 1.0 + }, + "returncode": 0, + "run_dir": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split", + "mean_success": 0.0, + "tasks": { + "bimanual_push_box": 0.0, + "bimanual_lift_ball": 0.0, + "bimanual_dual_push_buttons": 0.0 + }, + "error_tasks": [] + }, + { + "config": { + "name": "ik_c1_s01", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 0.1 + }, + "returncode": 0, + "run_dir": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split", + "mean_success": 0.0, + "tasks": { + "bimanual_push_box": 0.0, + "bimanual_lift_ball": 0.0, + "bimanual_dual_push_buttons": 0.0 + }, + "error_tasks": [] + }, + { + "config": { + "name": "ik_c1_s005", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 0.05 + }, + "returncode": 0, + "run_dir": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split", + "mean_success": 0.0, + "tasks": { + "bimanual_push_box": 0.0, + "bimanual_lift_ball": 0.0, + "bimanual_dual_push_buttons": 0.0 + }, + "error_tasks": [] + } +] \ No newline at end of file diff --git a/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.json b/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..92e3982e29a89ea44a071eeec23e1fa8dea29b4b --- /dev/null +++ b/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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 + } + ], + "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_debug_common23_pushbox_ep1/rollout_eval.md b/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.partial.json b/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..92e3982e29a89ea44a071eeec23e1fa8dea29b4b --- /dev/null +++ b/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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 + } + ], + "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_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..a36e466473e86a00f732d0b12d3fb31e0765c9c7 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_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/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..35ddc86ef42c02e12d2747f0c7aad60d2c1dae22 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,34 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/command.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..64e6d3102bea7accd45a1a20ebe1085fd76d5590 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/stderr.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..35ddc86ef42c02e12d2747f0c7aad60d2c1dae22 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,34 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/stdout.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/command.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..4e5fe1afd4200b187eff73f077048d3424e8d6c3 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/stderr.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..582510becb8cc8e600b4b3cb5b49da8ec2a9531c --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,38 @@ +The cache for model files in Transformers v4.22.0 has been updated. Migrating your old cache. This is a one-time only operation. You can interrupt this and resume the migration later on by calling `transformers.utils.move_cache()`. + +0it [00:00, ?it/s] +0it [00:00, ?it/s] +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/stdout.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.json b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5b0d026d5d117acd42022f2de920467dbf4ba0 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.json @@ -0,0 +1,44 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [ + "bimanual_dual_push_buttons", + "bimanual_lift_ball", + "bimanual_push_box" + ], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.md b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..0ee7487b7f8c8c27260c307a364f694cbcc59bbc --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.md @@ -0,0 +1,21 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `['bimanual_dual_push_buttons', 'bimanual_lift_ball', 'bimanual_push_box']` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/command.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..51d65569e33d94aeaa3662ffa4a7f8d7b55ac046 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..35ddc86ef42c02e12d2747f0c7aad60d2c1dae22 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,34 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/command.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..4401555aff20a67efe93bf9ad66f1cb9aab4475b --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/stderr.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..35ddc86ef42c02e12d2747f0c7aad60d2c1dae22 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,34 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/stdout.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/command.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..158caea83e8ae9eb8d6bc912724a30dbb09c9323 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/stderr.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..35ddc86ef42c02e12d2747f0c7aad60d2c1dae22 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,34 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/stdout.txt b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.json b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..3ad5d86ff7ce65f7c5b8d5af7c9da3fa6b3ef0d6 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.json @@ -0,0 +1,44 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [ + "bimanual_dual_push_buttons", + "bimanual_lift_ball", + "bimanual_push_box" + ], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.md b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..e5019f9bac88466cadbed72ea3da7e3343cf4b48 --- /dev/null +++ b/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.md @@ -0,0 +1,21 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `['bimanual_dual_push_buttons', 'bimanual_lift_ball', 'bimanual_push_box']` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1