diff --git a/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1.log b/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1.log new file mode 100644 index 0000000000000000000000000000000000000000..a11ca2613e854c3c1c2df8a7c8eedae3fe99d275 --- /dev/null +++ b/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1.log @@ -0,0 +1,1241 @@ +/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. +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + 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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": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.md b/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fd853d4d12655c5fb640364ae08d69fab8ce7587 --- /dev/null +++ b/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.partial.json b/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..7f54e852c504e69170e27a7163c9bb061cba7d76 --- /dev/null +++ b/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 25, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.md b/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fd853d4d12655c5fb640364ae08d69fab8ce7587 --- /dev/null +++ b/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.partial.json b/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..6fd5988c07d737f6cc76dde29fb4f7f9b63ea31e --- /dev/null +++ b/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 0.5, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 25, + 25, + 25, + 25, + 25 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 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": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1/rollout_eval.md b/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fd853d4d12655c5fb640364ae08d69fab8ce7587 --- /dev/null +++ b/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1/rollout_eval.partial.json b/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..4e579bbe8ab2ac6f3420a35ba1804b950ba1265d --- /dev/null +++ b/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, 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a/reports/dual_push_anchor_sweeps_20260330/knn_top1_planning.log b/reports/dual_push_anchor_sweeps_20260330/knn_top1_planning.log new file mode 100644 index 0000000000000000000000000000000000000000..bc097616fcdbbe17e55816548a2cbcf19b97a2dc --- /dev/null +++ b/reports/dual_push_anchor_sweeps_20260330/knn_top1_planning.log @@ -0,0 +1,22 @@ +/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( +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 361, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_knn_eval.py", line 220, in main + bank = _encode_bank( + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_knn_eval.py", line 63, in _encode_bank + scene_tokens = model.encode_scene( + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/models/policy.py", line 113, in encode_scene + return self.fusion(image_tokens=image_tokens, proprio=proprio, language_tokens=text_tokens) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py", line 90, in forward + batch_size, num_views, num_tokens, hidden_dim = image_tokens.shape +AttributeError: 'dict' object has no attribute 'shape' diff --git a/reports/dual_push_anchor_sweeps_20260330/sweep_summary.json b/reports/dual_push_anchor_sweeps_20260330/sweep_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b47c8d51fe81687836ddbeb6eeeff28dc0f559df --- /dev/null +++ b/reports/dual_push_anchor_sweeps_20260330/sweep_summary.json @@ -0,0 +1,24 @@ +{ + "direct_planning_c1_s1": { + "returncode": 0, + "log": "/workspace/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1.log", + "mean_success": 0.0, + "mean_return": 0.0 + }, + "direct_ik_c1_s1": { + "returncode": 0, + "log": "/workspace/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1.log", + "mean_success": 0.0, + "mean_return": 0.0 + }, + "direct_planning_c1_s05": { + "returncode": 0, + "log": "/workspace/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05.log", + "mean_success": 0.0, + "mean_return": 0.0 + }, + "knn_top1_planning": { + "returncode": 1, + "log": 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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. +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 5, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_5737e279a4fd5585.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 1.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 1.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.2, + "mean_return": 0.2 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_epoch0_knn_ep5_x99_res224_len180_train80/rollout_eval.json b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_epoch0_knn_ep5_x99_res224_len180_train80/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..7ab43569f6794990baaca578bd47c9df588736e7 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_epoch0_knn_ep5_x99_res224_len180_train80/rollout_eval.json @@ -0,0 +1,134 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 5, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_5737e279a4fd5585.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 1.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 1.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.2, + "mean_return": 0.2 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80.log b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80.log new file mode 100644 index 0000000000000000000000000000000000000000..53249c59a75b666e48139289b4d1834ec94f77f3 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80.log @@ -0,0 +1,84 @@ +/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. +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_1b75eaf854661771.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 142, + "successes": [ + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 7, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + "Could not perform bimanual IK via Jacobian; target pose is likely too far from the current pose.", + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.3, + "mean_return": 0.3 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80/rollout_eval.json b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..087477469a07b38c80971668e0db98faedf6a378 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80/rollout_eval.json @@ -0,0 +1,80 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_1b75eaf854661771.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 142, + "successes": [ + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 7, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + "Could not perform bimanual IK via Jacobian; target pose is likely too far from the current pose.", + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.3, + "mean_return": 0.3 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed.log b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed.log new file mode 100644 index 0000000000000000000000000000000000000000..2262910f356ff0839fe6b0986d42576386f83a66 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed.log @@ -0,0 +1,4 @@ +[rlbench-knn-sweep] running task=bimanual_push_box +{ + "generated": "/workspace/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json" +} diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep5_x99_res224_len180_train80.log b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep5_x99_res224_len180_train80.log new file mode 100644 index 0000000000000000000000000000000000000000..d8fcceca7fb102f61414a3a28610fcae392bc30c --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep5_x99_res224_len180_train80.log @@ -0,0 +1,138 @@ +/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. +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 5, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_759bd0202db119fd.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 1.0, + 0.0, + 1.0 + ], + "returns": [ + 0.0, + 0.0, + 1.0, + 0.0, + 1.0 + ], + "path_recoveries": [ + 0, + 1, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + "Could not perform bimanual IK via Jacobian; target pose is likely too far from the current pose.", + null, + null, + null + ], + "mean_success": 0.4, + "mean_return": 0.4 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep5_x99_res224_len180_train80/rollout_eval.json b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep5_x99_res224_len180_train80/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f16a2937be67079d5fb4797a099edd66716e76bd --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep5_x99_res224_len180_train80/rollout_eval.json @@ -0,0 +1,134 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 5, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_759bd0202db119fd.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 1.0, + 0.0, + 1.0 + ], + "returns": [ + 0.0, + 0.0, + 1.0, + 0.0, + 1.0 + ], + "path_recoveries": [ + 0, + 1, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + "Could not perform bimanual IK via Jacobian; target pose is likely too far from the current pose.", + null, + null, + null + ], + "mean_success": 0.4, + "mean_return": 0.4 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed.log b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed.log new file mode 100644 index 0000000000000000000000000000000000000000..1b6bda639043c75855da39e1aa073a686b40177e --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed.log @@ -0,0 +1,4 @@ +[rlbench-knn-sweep] running task=bimanual_push_box +{ + "generated": "/workspace/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json" +} diff --git a/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99.log b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99.log new file mode 100644 index 0000000000000000000000000000000000000000..0c3880a6503c84fb837de245f328fcd02ae818c7 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99.log @@ -0,0 +1,2 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( diff --git a/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224.log b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224.log new file mode 100644 index 0000000000000000000000000000000000000000..bfb987fd199060c9e1cdd0a915be434778c81584 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224.log @@ -0,0 +1,148 @@ +/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. +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_504cf679934e9049.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 12626, + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.0, + "mean_return": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224/rollout_eval.json b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..dc33125e3d207828ee6e4e6877a21d9b4b714574 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224/rollout_eval.json @@ -0,0 +1,144 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_504cf679934e9049.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 12626, + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.0, + "mean_return": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224_len180_train80.log b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224_len180_train80.log new file mode 100644 index 0000000000000000000000000000000000000000..296bb61c7cf604c5b6f6e02261782bdeeca10f2b --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224_len180_train80.log @@ -0,0 +1,138 @@ +/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. +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 5, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_5a08892f2a4d1e1d.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 1.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 1.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.2, + "mean_return": 0.2 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224_len180_train80/rollout_eval.json b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224_len180_train80/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..889293ca194f5613b79c4457b5a4d7c9b380157f --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224_len180_train80/rollout_eval.json @@ -0,0 +1,134 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + 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+ 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.2, + "mean_return": 0.2 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_workers8.log b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_workers8.log new file mode 100644 index 0000000000000000000000000000000000000000..7de75f6a5e7ade20ea1c8bf56cb367dd420588e2 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_workers8.log @@ -0,0 +1,148 @@ +/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. +{ + "checkpoint": 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"/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_69593f5326a3c82b.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 12626, + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.0, + "mean_return": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_workers8/rollout_eval.json b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_workers8/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..18a80800e38d9df5b7837a3f61e2f6456079c9b6 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_workers8/rollout_eval.json @@ -0,0 +1,144 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": 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false, "epoch_seconds": 157.69578075408936} +{"phase": "epoch_complete", "epoch": 3, "train_total": 0.03976717146911557, "val_total": 0.038367538491903774, "best_val_total": 0.0361817446143046, "best_checkpoint_updated": false, "epoch_seconds": 134.6836450099945} +{"phase": "epoch_complete", "epoch": 4, "train_total": 0.04018708530910706, "val_total": 0.03479443010478579, "best_val_total": 0.03479443010478579, "best_checkpoint_updated": true, "epoch_seconds": 127.11657547950745} +{"phase": "epoch_complete", "epoch": 5, "train_total": 0.039711598802398655, "val_total": 0.036955388013744116, "best_val_total": 0.03479443010478579, "best_checkpoint_updated": false, "epoch_seconds": 128.97915053367615} +{ + "experiment_name": "rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17", + "device": "cuda", + "best_checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "final_train_total": 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"/workspace/data/rlbench2_subset3", + "tasks": [ + "bimanual_lift_ball", + "bimanual_push_box", + "bimanual_dual_push_buttons" + ], + "episode_indices": [ + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99 + ], + "num_episodes": 30, + "num_samples": 3728, + "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", + "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": 805.0946624279022 +} diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17_train.log b/reports/rlbench_general_debug/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17_train.log new file mode 100644 index 0000000000000000000000000000000000000000..0c3880a6503c84fb837de245f328fcd02ae818c7 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17_train.log @@ -0,0 +1,2 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17_train.log b/reports/rlbench_general_debug/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17_train.log new file mode 100644 index 0000000000000000000000000000000000000000..b0a977fc232412824195fb7ddeefa7bfc1d855a6 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17_train.log @@ -0,0 +1,770 @@ +/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( +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5.log b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5.log new file mode 100644 index 0000000000000000000000000000000000000000..d733e0a8a2f5c0d4bcc9625267d6ae0a390bf54d --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5.log @@ -0,0 +1,2 @@ +[rlbench-knn-sweep] running task=bimanual_push_box +[rlbench-knn-sweep] running task=bimanual_lift_ball diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99.log b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99.log new file mode 100644 index 0000000000000000000000000000000000000000..49c95da006eaa4f82213f829fefe0d19c22b0b59 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99.log @@ -0,0 +1,6 @@ +[rlbench-knn-sweep] running task=bimanual_push_box +[rlbench-knn-sweep] running task=bimanual_lift_ball +[rlbench-knn-sweep] running task=bimanual_dual_push_buttons +{ + "generated": "/workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/rollout_eval.json" +} diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/stderr.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..0c3880a6503c84fb837de245f328fcd02ae818c7 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,2 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/stdout.txt b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/rollout_eval.json b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..ec276756097a8078684289139b8a0163f8040835 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/rollout_eval.json @@ -0,0 +1,276 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "device": "cuda", + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_batch_size": 32, + "bank_stride": 1, + "bank_num_workers": 0, + "top_k": 1, + "time_window": 4, + "reset_retries": 20, + "tasks": { + "bimanual_push_box": { + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "top_k": 1, + "time_window": 4, + "bank_size": 12626, + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "error": "subprocess_exit_-15", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": -15, + "rollout_path": "/workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "error": "subprocess_exit_-15", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": -15, + "rollout_path": "/workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [ + "bimanual_dual_push_buttons", + "bimanual_lift_ball" + ], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/rollout_eval.md b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..1caf099e8996d0da95c9aacae9f4e3fbbd2b6086 --- /dev/null +++ b/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/rollout_eval.md @@ -0,0 +1,25 @@ +# RLBench kNN Task Sweep + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt` +- Dataset root: `/workspace/data/rlbench2_subset3` +- Episodes per task: `5` +- Episode length: `25` +- Resolution: `256` +- Arm mode: `ik` +- Delta scale: `1.0` +- Top-k: `1` +- Time window: `4` +- Bank stride: `1` +- Bank batch size: `32` +- Bank workers: `0` +- Reset retries: `20` +- Train episodes: `[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89]` +- Task count: `3` +- Error tasks: `['bimanual_dual_push_buttons', 'bimanual_lift_ball']` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, bank_size=12626, path_recoveries=[0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0], error=None, subprocess_returncode=0 +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, bank_size=None, path_recoveries=None, noop_fallbacks=None, error=subprocess_exit_-15, subprocess_returncode=-15 +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, bank_size=None, path_recoveries=None, noop_fallbacks=None, error=subprocess_exit_-15, subprocess_returncode=-15 diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/chain.log b/reports/rvt_overlap_branch_fixedbounds_20260330/chain.log new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..0b9fcb91f53909e1a63f95c6250703486e9efc16 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt --output-dir /workspace/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..a22494c2ec71adce7bc2e892667f509d02022610 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "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 + }, + { + "timestep": 20, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "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, + 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"planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..28e4c0aec40e50c6ff5961a64f8b0ae1e2e6f102 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..a22494c2ec71adce7bc2e892667f509d02022610 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "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, + 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a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/command.txt b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..6556cb39c3c3c14d85ebc96f6c9a5f1fd90dd479 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt --output-dir /workspace/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..304707cfe869a1dfd6c86bf35c20b3a2142bbebf --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "CoordinatedLiftBall", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..9220646aa2057e041a7ffb9eb41d78243d6bfa49 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 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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/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/stdout.txt b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..8ebfe702b3546010683f59cd2617d219fe10aa18 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,6018 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": 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a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/command.txt b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..dc0b4dcb950696d5cff0d36a46d4aae3647552c8 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt --output-dir /workspace/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/rollout_eval.json b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..225adb5d8f791fc06baeae873e807e1f942cd597 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "CoordinatedPushBox", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/rollout_eval.md b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..49c64cb3471955f88c123510c9d88eccf4343572 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..225adb5d8f791fc06baeae873e807e1f942cd597 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "CoordinatedPushBox", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + 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a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/stderr.txt b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_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 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"planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 20, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "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, + 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"predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 20, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/rollout_eval.md b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..3b5bc0450e490a16d9b15e10a51bdd93e3f80d59 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `25` +- Episode length: `25` +- Resolution: `256` +- No planner: `False` +- Arm mode: `planning` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/gate_stage1.txt b/reports/rvt_overlap_branch_fixedbounds_20260330/gate_stage1.txt new file mode 100644 index 0000000000000000000000000000000000000000..93762146caff9cef8a78c6fd0215062d39d2a4ca --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/gate_stage1.txt @@ -0,0 +1,3 @@ +0.0 +0.16 +0 diff --git a/reports/rvt_overlap_branch_fixedbounds_20260330/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_eval.log b/reports/rvt_overlap_branch_fixedbounds_20260330/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_eval.log new file mode 100644 index 0000000000000000000000000000000000000000..26005a570cce20d308c2bc9c579a07f06eb1f4f2 --- /dev/null +++ b/reports/rvt_overlap_branch_fixedbounds_20260330/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_eval.log @@ -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/rvt_overlap_branch_fixedbounds_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_noplan_split/rollout_eval.json" + ] +} diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/command.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..f5fb6e34e83a3ae3b31194ed5489eb85ef2e850b --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless --plan diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..8af96dc9456554d88dccb6d4755a8ae87e14fe74 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,6017 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "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, + 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"predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.", + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..493e6c851bfd98cfb02303f75693127fa951df2e --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..8af96dc9456554d88dccb6d4755a8ae87e14fe74 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,6017 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.", + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/command.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..ee7878ca7fe4811679adfd357667b1e8e1674c74 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless --plan diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf75432257e42789afa77953a33c00f68aebec4 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,6017 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + 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"path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.", + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..87a7784e89a242a4223428fb0cdbc4c99e02121f --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf75432257e42789afa77953a33c00f68aebec4 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,6017 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 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a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/command.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..cde198d4292eba23e64188ad19f08d6065ec664e --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..a7a22c6279b19173f6edfb12bbb22ff462204513 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,11641 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt", + 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..658b23eb2815ffb00447ffd4416f074a649bc733 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..a7a22c6279b19173f6edfb12bbb22ff462204513 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,11641 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, 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b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..4f46637031029fa8c0e9ef1b6c8ea01c6da3b5d1 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,5 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/observation_memory.py:211: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.sequence_encoder = nn.TransformerEncoder(encoder_layer, num_layers=1) +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..9de3409a3562ee9f1f21972495c672b96284d2c1 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,11643 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + 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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/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/command.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..7e3b1c079ee933d96df387bb3085c206baa50443 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f11574c4f042be9caf76014320bacaa5fcb3612a --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,11641 @@ +{ + "checkpoint": 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0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..10e089450179649758d6babd00c9881af3614bc7 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..f11574c4f042be9caf76014320bacaa5fcb3612a --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,11641 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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= nn.TransformerEncoder( +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/observation_memory.py:211: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.sequence_encoder = nn.TransformerEncoder(encoder_layer, num_layers=1) +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/stdout.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..12ee20a90420db7b2e227463bd78cdec12769aca --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,11643 @@ +[task] bimanual_lift_ball: 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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/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/command.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..72d2d9db36daa532230eab4eb427ce87762cdd08 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f5cab7f5c37606cedcb557ea7a6181ebe880a549 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,11641 @@ +{ + "checkpoint": 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"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/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..90f57acad7d5ce40aedae74ee1e9e412cc623829 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..f5cab7f5c37606cedcb557ea7a6181ebe880a549 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,11641 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, 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"noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/rollout_eval.md b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..c68cbba72a10bbca8bb9999ef4e5a43a2e866037 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `25` +- Episode length: `25` +- Resolution: `256` +- No planner: `False` +- Arm mode: `planning` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..b7064c9263cfa4d0da56e2176f0c6c8ddfe0ea11 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,29 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/command.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..707171b93c250328a69b45b6be78f7a7ac7c1cf5 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless --plan diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..beb5fecbc0564130f7f793d676b48869f1559fa3 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,9141 @@ +{ + "checkpoint": 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0000000000000000000000000000000000000000..d93d1e8bcc1e218f4e3bdde3026df0d5d372e72f --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.partial.json b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..beb5fecbc0564130f7f793d676b48869f1559fa3 --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,9141 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + 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nn.TransformerEncoder( +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/observation_memory.py:211: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.sequence_encoder = nn.TransformerEncoder(encoder_layer, num_layers=1) +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/stdout.txt b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..2cb3f0d7d9be22ca6eb32818c2b0cb4dcd30965e --- /dev/null +++ b/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_plan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,9143 @@ +[task] bimanual_push_box: 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