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The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
@hydra.main(config_name="eval", config_path="conf")
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
warnings.warn(msg, UserWarning)
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
deprecation_warning(
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
ret = run_job(
[2026-03-30 20:23:52,292][root][INFO] -
method:
name: PERACT_BC
agent_type: leader_follower
robot_name: bimanual
image_crop_size: 64
bounds_offset:
- 0.15
voxel_sizes:
- 100
include_prev_layer: false
num_latents: 2048
latent_dim: 512
transformer_depth: 6
transformer_iterations: 1
cross_heads: 1
cross_dim_head: 64
latent_heads: 8
latent_dim_head: 64
pos_encoding_with_lang: true
conv_downsample: true
lang_fusion_type: seq
voxel_patch_size: 5
voxel_patch_stride: 5
final_dim: 64
low_dim_size: 4
input_dropout: 0.1
attn_dropout: 0.1
decoder_dropout: 0.0
lr: 0.0005
lr_scheduler: false
num_warmup_steps: 3000
optimizer: lamb
lambda_weight_l2: 1.0e-06
trans_loss_weight: 1.0
rot_loss_weight: 1.0
grip_loss_weight: 1.0
collision_loss_weight: 1.0
rotation_resolution: 5
activation: lrelu
norm: None
crop_augmentation: true
transform_augmentation:
apply_se3: true
aug_xyz:
- 0.125
- 0.125
- 0.125
aug_rpy:
- 0.0
- 0.0
- 45.0
aug_rot_resolution: ${method.rotation_resolution}
demo_augmentation: true
demo_augmentation_every_n: 10
no_skip_connection: false
no_perceiver: false
no_language: false
keypoint_method: heuristic
rlbench:
task_name: perlf_release_subset3
tasks:
- coordinated_push_box
- coordinated_lift_ball
- dual_push_buttons
demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
episode_length: 25
cameras:
- over_shoulder_left
- over_shoulder_right
- overhead
- wrist_right
- wrist_left
- front
camera_resolution:
- 256
- 256
scene_bounds:
- -0.3
- -0.5
- 0.6
- 0.7
- 0.5
- 1.6
include_lang_goal_in_obs: true
time_in_state: true
headless: true
gripper_mode: BimanualDiscrete
arm_action_mode: BimanualEndEffectorPoseViaPlanning
action_mode: BimanualMoveArmThenGripper
framework:
tensorboard_logging: true
csv_logging: true
gpu: 0
logdir: /workspace/baselines/AnyBimanual_release_eval_subset3
start_seed: 0
record_every_n: 5
eval_envs: 1
eval_from_eps_number: 0
eval_episodes: 5
eval_type: 60000
eval_save_metrics: true
cinematic_recorder:
enabled: false
camera_resolution:
- 1280
- 720
fps: 30
rotate_speed: 0.005
save_path: /tmp/videos/
[2026-03-30 20:23:52,302][root][INFO] - Using env device cuda:0.
[2026-03-30 20:23:52,328][root][INFO] - Evaluating seed 0.
[2026-03-30 20:23:52,328][root][INFO] - Using method PERACT_BC with type leader_follower
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
@hydra.main(config_name="eval", config_path="conf")
Weight: [60000]
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
@hydra.main(config_name="eval", config_path="conf")
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
The version_base parameter is not specified.
Please specify a compatability version level, or None.
Will assume defaults for version 1.1
@hydra.main(config_name="eval", config_path="conf")
[03/30/26 20:24:44] INFO INFO:root:eval_env: _independent_env_runner.py:130
Launching env.
INFO INFO:root:Agent _independent_env_runner.py:133
information:
INFO INFO:root:<yarr.agen _independent_env_runner.py:134
ts.agent.LeaderFollo
werAgent object at
0x7cbe7f895720>
[03/30/26 20:24:48] INFO INFO:root:Using dual panda robot environment.py:117
INFO INFO:root:Setting control arm_action_modes.py:79
mode for both robots
WARNING WARNING:root:not sure how task_environment.py:57
_robot_shapes are used is
used.
INFO INFO:root:Evaluating _independent_env_runner.py:164
weight 60000
loaded weights from /workspace/baselines/AnyBimanual_release_eval_subset3/perlf_release_subset3/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt
loaded weights from /workspace/baselines/AnyBimanual_release_eval_subset3/perlf_release_subset3/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt
Tasks: 0%| | 0/3 [00:00<?, ?it/s]
Episodes: 0%| | 0/5 [00:00<?, ?it/s][A[03/30/26 20:24:51] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 0,
seed 0.
eval_demo_seed: 0
[03/30/26 20:25:33] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
/workspace/third_party/AnyBimanual/third_party/YARR/yarr/utils/rollout_generator.py:76: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:253.)
prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}
Episodes: 20%|██ | 1/5 [01:02<04:09, 62.27s/it][AEvaluating coordinated_push_box | Episode 0 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 20:25:53] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 1,
seed 1.
eval_demo_seed: 1
[03/30/26 20:26:26] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 40%|████ | 2/5 [01:56<02:52, 57.65s/it][AEvaluating coordinated_push_box | Episode 1 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 20:26:48] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 2,
seed 2.
eval_demo_seed: 2
[03/30/26 20:27:25] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 60%|██████ | 3/5 [02:48<01:49, 54.88s/it][AEvaluating coordinated_push_box | Episode 2 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 20:27:39] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 3,
seed 3.
eval_demo_seed: 3
[03/30/26 20:28:13] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 80%|████████ | 4/5 [03:37<00:52, 52.80s/it][AEvaluating coordinated_push_box | Episode 3 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 20:28:29] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 4,
seed 4.
eval_demo_seed: 4
[03/30/26 20:29:04] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 100%|██████████| 5/5 [04:28<00:00, 51.86s/it][A
Episodes: 100%|██████████| 5/5 [04:28<00:00, 53.62s/it]
Tasks: 33%|███▎ | 1/3 [04:28<08:56, 268.33s/it]Evaluating coordinated_push_box | Episode 4 | Score: 0.0 | Lang Goal: push the box to the red area
Finished coordinated_push_box | Final Score: 0.0
add_video needs package moviepy
Episodes: 0%| | 0/5 [00:00<?, ?it/s][A[03/30/26 20:29:19] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 0,
seed 0.
eval_demo_seed: 0
WARNING WARNING:root:not sure how task_environment.py:57
_robot_shapes are used is
used.
[03/30/26 20:29:54] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 20%|██ | 1/5 [01:34<06:19, 94.91s/it][AEvaluating coordinated_lift_ball | Episode 0 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 20:30:54] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 1,
seed 1.
eval_demo_seed: 1
[03/30/26 20:31:29] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 40%|████ | 2/5 [02:43<03:59, 79.68s/it][AEvaluating coordinated_lift_ball | Episode 1 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 20:32:03] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 2,
seed 2.
eval_demo_seed: 2
[03/30/26 20:32:35] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 60%|██████ | 3/5 [03:37<02:15, 67.88s/it][AEvaluating coordinated_lift_ball | Episode 2 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 20:32:57] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 3,
seed 3.
eval_demo_seed: 3
[03/30/26 20:33:26] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 80%|████████ | 4/5 [04:27<01:00, 60.73s/it][AEvaluating coordinated_lift_ball | Episode 3 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 20:33:47] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 4,
seed 4.
eval_demo_seed: 4
[03/30/26 20:34:29] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 100%|██████████| 5/5 [05:35<00:00, 63.31s/it][A
Episodes: 100%|██████████| 5/5 [05:35<00:00, 67.09s/it]
Tasks: 67%|██████▋ | 2/3 [10:04<05:08, 308.31s/it]Evaluating coordinated_lift_ball | Episode 4 | Score: 0.0 | Lang Goal: Lift the ball
Finished coordinated_lift_ball | Final Score: 0.0
add_video needs package moviepy
Episodes: 0%| | 0/5 [00:00<?, ?it/s][A[03/30/26 20:34:56] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 0,
seed 0.
eval_demo_seed: 0
WARNING WARNING:root:not sure how task_environment.py:57
_robot_shapes are used is
used.
[03/30/26 20:35:19] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 20%|██ | 1/5 [00:32<02:11, 32.97s/it][AEvaluating dual_push_buttons | Episode 0 | Score: 100.0 | Lang Goal: push the rose and the maroon buttons
[03/30/26 20:35:29] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 1,
seed 1.
eval_demo_seed: 1
[03/30/26 20:36:00] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 40%|████ | 2/5 [01:19<02:03, 41.21s/it][AEvaluating dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons
[03/30/26 20:36:15] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 2,
seed 2.
eval_demo_seed: 2
[03/30/26 20:36:44] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 60%|██████ | 3/5 [02:35<01:53, 56.82s/it][AEvaluating dual_push_buttons | Episode 2 | Score: 0.0 | Lang Goal: push the violet and the blue buttons
[03/30/26 20:37:31] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 3,
seed 3.
eval_demo_seed: 3
[03/30/26 20:37:56] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 80%|████████ | 4/5 [03:12<00:48, 48.98s/it][AEvaluating dual_push_buttons | Episode 3 | Score: 100.0 | Lang Goal: push the green and the violet buttons
[03/30/26 20:38:08] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 4,
seed 4.
eval_demo_seed: 4
[03/30/26 20:38:40] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 100%|██████████| 5/5 [04:07<00:00, 51.06s/it][A
Episodes: 100%|██████████| 5/5 [04:07<00:00, 49.41s/it]
Tasks: 100%|██████████| 3/3 [14:11<00:00, 280.44s/it]
Tasks: 100%|██████████| 3/3 [14:11<00:00, 283.97s/it]
Evaluating dual_push_buttons | Episode 4 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
Finished dual_push_buttons | Final Score: 40.0
add_video needs package moviepy
[03/30/26 20:39:03] INFO INFO:root:Finished _independent_env_runner.py:292
evaluation.
[CoppeliaSim:loadinfo] done.
[W330 20:39:14.096037786 CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]
|