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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 13:33:13,393][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: peract_bc_subset3_overlap_smoke200_fixpretrain_nowandb3
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_overlap_runs
start_seed: 0
record_every_n: 5
eval_envs: 1
eval_from_eps_number: 0
eval_episodes: 25
eval_type: last
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 13:33:13,404][root][INFO] - Using env device cuda:0.
[2026-03-30 13:33:13,425][root][INFO] - Evaluating seed 0.
[2026-03-30 13:33:13,425][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")
Last weight: [1000]
/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 13:33:58] 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
0x7aaa1b9e54e0>
[03/30/26 13:34:02] 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 1000
loaded weights from /workspace/baselines/AnyBimanual_overlap_runs/peract_bc_subset3_overlap_smoke200_fixpretrain_nowandb3/PERACT_BC/seed0/weights/1000/checkpoint_peract_bc_leader_layer_0.pt
loaded weights from /workspace/baselines/AnyBimanual_overlap_runs/peract_bc_subset3_overlap_smoke200_fixpretrain_nowandb3/PERACT_BC/seed0/weights/1000/checkpoint_peract_bc_follower_layer_0.pt
Tasks: 0%| | 0/3 [00:00<?, ?it/s]
Episodes: 0%| | 0/25 [00:00<?, ?it/s][A[03/30/26 13:34:04] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 0,
seed 0.
eval_demo_seed: 0
[03/30/26 13:34:43] 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: 4%|▍ | 1/25 [01:00<24:20, 60.83s/it][AEvaluating coordinated_push_box | Episode 0 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:35:04] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 1,
seed 1.
eval_demo_seed: 1
[03/30/26 13:35:39] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 8%|▊ | 2/25 [02:01<23:16, 60.71s/it][AEvaluating coordinated_push_box | Episode 1 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:36:05] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 2,
seed 2.
eval_demo_seed: 2
[03/30/26 13:36:48] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 12%|█▏ | 3/25 [03:20<25:23, 69.25s/it][AEvaluating coordinated_push_box | Episode 2 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:37:25] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 3,
seed 3.
eval_demo_seed: 3
[03/30/26 13:37:59] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 16%|█▌ | 4/25 [04:46<26:28, 75.66s/it][AEvaluating coordinated_push_box | Episode 3 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:38:50] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 4,
seed 4.
eval_demo_seed: 4
[03/30/26 13:39:23] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 20%|██ | 5/25 [05:48<23:34, 70.73s/it][AEvaluating coordinated_push_box | Episode 4 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:39:52] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 5,
seed 5.
eval_demo_seed: 5
[03/30/26 13:40:27] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 24%|██▍ | 6/25 [06:42<20:34, 64.99s/it][AEvaluating coordinated_push_box | Episode 5 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:40:46] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 6,
seed 6.
eval_demo_seed: 6
[03/30/26 13:41:21] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 28%|██▊ | 7/25 [07:32<18:05, 60.31s/it][AEvaluating coordinated_push_box | Episode 6 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:41:37] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 7,
seed 7.
eval_demo_seed: 7
[03/30/26 13:42:12] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 32%|███▏ | 8/25 [08:23<16:13, 57.27s/it][AEvaluating coordinated_push_box | Episode 7 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:42:27] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 8,
seed 8.
eval_demo_seed: 8
[03/30/26 13:43:01] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 36%|███▌ | 9/25 [09:11<14:29, 54.32s/it][AEvaluating coordinated_push_box | Episode 8 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:43:15] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 9,
seed 9.
eval_demo_seed: 9
[03/30/26 13:43:54] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 40%|████ | 10/25 [10:05<13:31, 54.10s/it][AEvaluating coordinated_push_box | Episode 9 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:44:09] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 10,
seed 10.
eval_demo_seed: 10
[03/30/26 13:44:47] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 44%|████▍ | 11/25 [11:12<13:32, 58.03s/it][AEvaluating coordinated_push_box | Episode 10 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:45:16] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 11,
seed 11.
eval_demo_seed: 11
[03/30/26 13:45:53] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 48%|████▊ | 12/25 [12:04<12:11, 56.27s/it][AEvaluating coordinated_push_box | Episode 11 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:46:08] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 12,
seed 12.
eval_demo_seed: 12
[03/30/26 13:46:40] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 52%|█████▏ | 13/25 [12:54<10:54, 54.52s/it][AEvaluating coordinated_push_box | Episode 12 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:46:58] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 13,
seed 13.
eval_demo_seed: 13
[03/30/26 13:47:32] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 56%|█████▌ | 14/25 [13:59<10:34, 57.72s/it][AEvaluating coordinated_push_box | Episode 13 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:48:04] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 14,
seed 14.
eval_demo_seed: 14
[03/30/26 13:48:39] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 60%|██████ | 15/25 [14:51<09:19, 55.91s/it][AEvaluating coordinated_push_box | Episode 14 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:48:55] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 15,
seed 15.
eval_demo_seed: 15
[03/30/26 13:49:30] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 64%|██████▍ | 16/25 [15:40<08:05, 53.91s/it][AEvaluating coordinated_push_box | Episode 15 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:49:44] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 16,
seed 16.
eval_demo_seed: 16
[03/30/26 13:50:23] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 68%|██████▊ | 17/25 [16:36<07:15, 54.45s/it][AEvaluating coordinated_push_box | Episode 16 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:50:40] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 17,
seed 17.
eval_demo_seed: 17
[03/30/26 13:51:15] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 72%|███████▏ | 18/25 [17:29<06:18, 54.04s/it][AEvaluating coordinated_push_box | Episode 17 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:51:33] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 18,
seed 18.
eval_demo_seed: 18
[03/30/26 13:52:10] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 76%|███████▌ | 19/25 [18:23<05:23, 53.97s/it][AEvaluating coordinated_push_box | Episode 18 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:52:27] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 19,
seed 19.
eval_demo_seed: 19
[03/30/26 13:53:03] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 80%|████████ | 20/25 [19:14<04:25, 53.05s/it][AEvaluating coordinated_push_box | Episode 19 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:53:18] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 20,
seed 20.
eval_demo_seed: 20
[03/30/26 13:53:56] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 84%|████████▍ | 21/25 [20:11<03:36, 54.20s/it][AEvaluating coordinated_push_box | Episode 20 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:54:15] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 21,
seed 21.
eval_demo_seed: 21
[03/30/26 13:54:49] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 88%|████████▊ | 22/25 [21:04<02:41, 53.94s/it][AEvaluating coordinated_push_box | Episode 21 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:55:08] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 22,
seed 22.
eval_demo_seed: 22
[03/30/26 13:55:46] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
[03/30/26 13:55:53] WARNING WARNING:root:Object gripper_action_modes.py:328
with name cube is
already grasped by
right robot
[03/30/26 13:55:57] WARNING WARNING:root:Object gripper_action_modes.py:328
with name cube is
already grasped by
right robot
Episodes: 92%|█████████▏| 23/25 [22:06<01:52, 56.36s/it][AEvaluating coordinated_push_box | Episode 22 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:56:10] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 23,
seed 23.
eval_demo_seed: 23
[03/30/26 13:56:50] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 96%|█████████▌| 24/25 [23:26<01:03, 63.30s/it][AEvaluating coordinated_push_box | Episode 23 | Score: 0.0 | Lang Goal: push the box to the red area
[03/30/26 13:57:30] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 24,
seed 24.
eval_demo_seed: 24
[03/30/26 13:58:09] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 100%|██████████| 25/25 [24:21<00:00, 60.90s/it][A
Episodes: 100%|██████████| 25/25 [24:21<00:00, 58.45s/it]
Tasks: 33%|███▎ | 1/3 [24:22<48:45, 1462.60s/it]Evaluating coordinated_push_box | Episode 24 | 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
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
Episodes: 0%| | 0/25 [00:00<?, ?it/s][A[03/30/26 13:58:26] 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 13:58:58] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 4%|▍ | 1/25 [01:27<35:07, 87.82s/it][AEvaluating coordinated_lift_ball | Episode 0 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 13:59:54] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 1,
seed 1.
eval_demo_seed: 1
[03/30/26 14:00:32] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 8%|▊ | 2/25 [03:11<37:16, 97.23s/it][AEvaluating coordinated_lift_ball | Episode 1 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:01:38] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 2,
seed 2.
eval_demo_seed: 2
[03/30/26 14:02:08] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 12%|█▏ | 3/25 [04:31<32:42, 89.22s/it][AEvaluating coordinated_lift_ball | Episode 2 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:02:58] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 3,
seed 3.
eval_demo_seed: 3
[03/30/26 14:03:31] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 16%|█▌ | 4/25 [05:41<28:36, 81.76s/it][AEvaluating coordinated_lift_ball | Episode 3 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:04:08] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 4,
seed 4.
eval_demo_seed: 4
[03/30/26 14:04:56] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 20%|██ | 5/25 [07:12<28:20, 85.01s/it][AEvaluating coordinated_lift_ball | Episode 4 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:05:39] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 5,
seed 5.
eval_demo_seed: 5
[03/30/26 14:06:11] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 24%|██▍ | 6/25 [08:38<27:02, 85.40s/it][AEvaluating coordinated_lift_ball | Episode 5 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:07:05] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 6,
seed 6.
eval_demo_seed: 6
[03/30/26 14:07:42] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 28%|██▊ | 7/25 [10:04<25:41, 85.65s/it][AEvaluating coordinated_lift_ball | Episode 6 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:08:31] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 7,
seed 7.
eval_demo_seed: 7
[03/30/26 14:09:08] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
[03/30/26 14:09:09] WARNING WARNING:root:Waypoints are not task.py:377
reachable right=(False, 'waypoint0 -
DualPanda') left=(True, '')
ERROR ERROR:root:Error when checking scene.py:163
waypoints. Exception is: Error in task
coordinated_lift_ball. Infeasible
episode. Can't reach waypoint ((False,
'waypoint0 - DualPanda'), (True, '')).
INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 32%|███▏ | 8/25 [11:19<23:19, 82.32s/it][AEvaluating coordinated_lift_ball | Episode 7 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:09:46] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 8,
seed 8.
eval_demo_seed: 8
[03/30/26 14:10:22] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 36%|███▌ | 9/25 [12:31<21:02, 78.91s/it][AEvaluating coordinated_lift_ball | Episode 8 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:10:58] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 9,
seed 9.
eval_demo_seed: 9
[03/30/26 14:11:34] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 40%|████ | 10/25 [13:44<19:15, 77.03s/it][AEvaluating coordinated_lift_ball | Episode 9 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:12:10] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 10,
seed 10.
eval_demo_seed: 10
[03/30/26 14:12:44] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 44%|████▍ | 11/25 [14:47<16:59, 72.80s/it][AEvaluating coordinated_lift_ball | Episode 10 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:13:14] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 11,
seed 11.
eval_demo_seed: 11
[03/30/26 14:13:46] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 48%|████▊ | 12/25 [16:11<16:30, 76.16s/it][AEvaluating coordinated_lift_ball | Episode 11 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:14:37] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 12,
seed 12.
eval_demo_seed: 12
[03/30/26 14:15:13] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 52%|█████▏ | 13/25 [17:31<15:29, 77.42s/it][AEvaluating coordinated_lift_ball | Episode 12 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:15:58] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 13,
seed 13.
eval_demo_seed: 13
[03/30/26 14:16:30] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 56%|█████▌ | 14/25 [18:47<14:06, 76.96s/it][AEvaluating coordinated_lift_ball | Episode 13 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:17:14] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 14,
seed 14.
eval_demo_seed: 14
[03/30/26 14:17:55] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 60%|██████ | 15/25 [20:57<15:29, 92.94s/it][AEvaluating coordinated_lift_ball | Episode 14 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:19:24] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 15,
seed 15.
eval_demo_seed: 15
[03/30/26 14:20:01] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 64%|██████▍ | 16/25 [22:42<14:28, 96.48s/it][AEvaluating coordinated_lift_ball | Episode 15 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:21:08] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 16,
seed 16.
eval_demo_seed: 16
[03/30/26 14:21:48] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 68%|██████▊ | 17/25 [24:17<12:49, 96.16s/it][AEvaluating coordinated_lift_ball | Episode 16 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:22:44] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 17,
seed 17.
eval_demo_seed: 17
[03/30/26 14:23:20] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 72%|███████▏ | 18/25 [26:04<11:34, 99.27s/it][AEvaluating coordinated_lift_ball | Episode 17 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:24:30] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 18,
seed 18.
eval_demo_seed: 18
[03/30/26 14:25:02] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 76%|███████▌ | 19/25 [27:20<09:13, 92.29s/it][AEvaluating coordinated_lift_ball | Episode 18 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:25:46] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 19,
seed 19.
eval_demo_seed: 19
[03/30/26 14:26:21] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 80%|████████ | 20/25 [28:32<07:11, 86.22s/it][AEvaluating coordinated_lift_ball | Episode 19 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:26:58] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 20,
seed 20.
eval_demo_seed: 20
[03/30/26 14:27:29] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 84%|████████▍ | 21/25 [30:05<05:53, 88.42s/it][AEvaluating coordinated_lift_ball | Episode 20 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:28:32] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 21,
seed 21.
eval_demo_seed: 21
[03/30/26 14:29:08] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 88%|████████▊ | 22/25 [31:33<04:24, 88.23s/it][AEvaluating coordinated_lift_ball | Episode 21 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:30:00] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 22,
seed 22.
eval_demo_seed: 22
[03/30/26 14:30:35] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 92%|█████████▏| 23/25 [33:00<02:55, 87.88s/it][AEvaluating coordinated_lift_ball | Episode 22 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:31:27] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 23,
seed 23.
eval_demo_seed: 23
[03/30/26 14:32:02] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 96%|█████████▌| 24/25 [34:20<01:25, 85.38s/it][AEvaluating coordinated_lift_ball | Episode 23 | Score: 0.0 | Lang Goal: Lift the ball
[03/30/26 14:32:46] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 24,
seed 24.
eval_demo_seed: 24
[03/30/26 14:33:17] INFO INFO:root:total waypoints 8, (right=4, task.py:370
left=4)
Episodes: 100%|██████████| 25/25 [35:53<00:00, 87.87s/it][A
Episodes: 100%|██████████| 25/25 [35:53<00:00, 86.15s/it]
Tasks: 67%|██████▋ | 2/3 [1:00:19<31:10, 1870.83s/it]Evaluating coordinated_lift_ball | Episode 24 | Score: 0.0 | Lang Goal: Lift the ball
Finished coordinated_lift_ball | Final Score: 0.0
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
Episodes: 0%| | 0/25 [00:00<?, ?it/s][A[03/30/26 14:34:23] 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 14:34:51] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 4%|▍ | 1/25 [00:35<14:21, 35.89s/it][AEvaluating dual_push_buttons | Episode 0 | Score: 100.0 | Lang Goal: push the rose and the maroon buttons
[03/30/26 14:34:59] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 1,
seed 1.
eval_demo_seed: 1
[03/30/26 14:35:26] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 8%|▊ | 2/25 [01:22<16:12, 42.28s/it][AEvaluating dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons
[03/30/26 14:35:45] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 2,
seed 2.
eval_demo_seed: 2
[03/30/26 14:36:11] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 12%|█▏ | 3/25 [02:10<16:23, 44.70s/it][AEvaluating dual_push_buttons | Episode 2 | Score: 0.0 | Lang Goal: push the violet and the blue buttons
[03/30/26 14:36:33] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 3,
seed 3.
eval_demo_seed: 3
[03/30/26 14:36:59] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 16%|█▌ | 4/25 [03:01<16:30, 47.16s/it][AEvaluating dual_push_buttons | Episode 3 | Score: 0.0 | Lang Goal: push the green and the violet buttons
[03/30/26 14:37:24] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 4,
seed 4.
eval_demo_seed: 4
[03/30/26 14:37:56] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 20%|██ | 5/25 [03:52<16:16, 48.81s/it][AEvaluating dual_push_buttons | Episode 4 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
[03/30/26 14:38:16] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 5,
seed 5.
eval_demo_seed: 5
[03/30/26 14:38:41] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 24%|██▍ | 6/25 [04:37<14:57, 47.25s/it][AEvaluating dual_push_buttons | Episode 5 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
[03/30/26 14:39:00] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 6,
seed 6.
eval_demo_seed: 6
[03/30/26 14:39:27] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 28%|██▊ | 7/25 [05:19<13:39, 45.55s/it][AEvaluating dual_push_buttons | Episode 6 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
[03/30/26 14:39:42] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 7,
seed 7.
eval_demo_seed: 7
[03/30/26 14:40:08] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 32%|███▏ | 8/25 [06:05<12:58, 45.82s/it][AEvaluating dual_push_buttons | Episode 7 | Score: 0.0 | Lang Goal: push the white and the blue buttons
[03/30/26 14:40:28] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 8,
seed 8.
eval_demo_seed: 8
[03/30/26 14:40:55] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 36%|███▌ | 9/25 [06:48<12:00, 45.05s/it][AEvaluating dual_push_buttons | Episode 8 | Score: 0.0 | Lang Goal: push the yellow and the green buttons
[03/30/26 14:41:12] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 9,
seed 9.
eval_demo_seed: 9
[03/30/26 14:41:39] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 40%|████ | 10/25 [07:43<11:59, 47.94s/it][AEvaluating dual_push_buttons | Episode 9 | Score: 0.0 | Lang Goal: push the magenta and the azure buttons
[03/30/26 14:42:06] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 10,
seed 10.
eval_demo_seed: 10
[03/30/26 14:42:36] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 44%|████▍ | 11/25 [08:33<11:19, 48.57s/it][AEvaluating dual_push_buttons | Episode 10 | Score: 0.0 | Lang Goal: push the olive and the black buttons
[03/30/26 14:42:56] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 11,
seed 11.
eval_demo_seed: 11
[03/30/26 14:43:25] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 48%|████▊ | 12/25 [09:42<11:54, 54.96s/it][AEvaluating dual_push_buttons | Episode 11 | Score: 0.0 | Lang Goal: push the rose and the yellow buttons
[03/30/26 14:44:06] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 12,
seed 12.
eval_demo_seed: 12
[03/30/26 14:44:27] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 52%|█████▏ | 13/25 [10:22<10:02, 50.21s/it][AEvaluating dual_push_buttons | Episode 12 | Score: 0.0 | Lang Goal: push the rose and the violet buttons
[03/30/26 14:44:45] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 13,
seed 13.
eval_demo_seed: 13
[03/30/26 14:45:13] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 56%|█████▌ | 14/25 [11:02<08:38, 47.17s/it][AEvaluating dual_push_buttons | Episode 13 | Score: 100.0 | Lang Goal: push the magenta and the azure buttons
[03/30/26 14:45:25] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 14,
seed 14.
eval_demo_seed: 14
[03/30/26 14:45:50] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 60%|██████ | 15/25 [11:48<07:50, 47.01s/it][AEvaluating dual_push_buttons | Episode 14 | Score: 0.0 | Lang Goal: push the gray and the silver buttons
[03/30/26 14:46:12] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 15,
seed 15.
eval_demo_seed: 15
[03/30/26 14:46:40] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 64%|██████▍ | 16/25 [12:36<07:03, 47.08s/it][AEvaluating dual_push_buttons | Episode 15 | Score: 0.0 | Lang Goal: push the blue and the violet buttons
[03/30/26 14:46:59] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 16,
seed 16.
eval_demo_seed: 16
[03/30/26 14:47:28] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 68%|██████▊ | 17/25 [13:21<06:13, 46.68s/it][AEvaluating dual_push_buttons | Episode 16 | Score: 0.0 | Lang Goal: push the yellow and the green buttons
[03/30/26 14:47:45] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 17,
seed 17.
eval_demo_seed: 17
[03/30/26 14:48:13] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 72%|███████▏ | 18/25 [13:53<04:54, 42.09s/it][AEvaluating dual_push_buttons | Episode 17 | Score: 100.0 | Lang Goal: push the purple and the rose buttons
[03/30/26 14:48:16] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 18,
seed 18.
eval_demo_seed: 18
[03/30/26 14:48:41] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 76%|███████▌ | 19/25 [14:35<04:11, 41.97s/it][AEvaluating dual_push_buttons | Episode 18 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
[03/30/26 14:48:58] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 19,
seed 19.
eval_demo_seed: 19
[03/30/26 14:49:30] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 80%|████████ | 20/25 [15:22<03:37, 43.51s/it][AEvaluating dual_push_buttons | Episode 19 | Score: 0.0 | Lang Goal: push the maroon and the green buttons
[03/30/26 14:49:45] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 20,
seed 20.
eval_demo_seed: 20
[03/30/26 14:50:11] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 84%|████████▍ | 21/25 [16:08<02:58, 44.51s/it][AEvaluating dual_push_buttons | Episode 20 | Score: 0.0 | Lang Goal: push the purple and the violet buttons
[03/30/26 14:50:32] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 21,
seed 21.
eval_demo_seed: 21
[03/30/26 14:50:59] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 88%|████████▊ | 22/25 [16:54<02:14, 44.82s/it][AEvaluating dual_push_buttons | Episode 21 | Score: 0.0 | Lang Goal: push the rose and the violet buttons
[03/30/26 14:51:17] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 22,
seed 22.
eval_demo_seed: 22
[03/30/26 14:52:01] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 92%|█████████▏| 23/25 [17:56<01:40, 50.07s/it][AEvaluating dual_push_buttons | Episode 22 | Score: 0.0 | Lang Goal: push the olive and the orange buttons
[03/30/26 14:52:20] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 23,
seed 23.
eval_demo_seed: 23
[03/30/26 14:52:48] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 96%|█████████▌| 24/25 [18:41<00:48, 48.56s/it][AEvaluating dual_push_buttons | Episode 23 | Score: 0.0 | Lang Goal: push the violet and the magenta buttons
[03/30/26 14:53:05] INFO INFO:root:eval_env: _independent_env_runner.py:191
Starting episode 24,
seed 24.
eval_demo_seed: 24
[03/30/26 14:53:33] INFO INFO:root:total waypoints 4, (right=2, task.py:370
left=2)
Episodes: 100%|██████████| 25/25 [19:31<00:00, 48.78s/it][A
Episodes: 100%|██████████| 25/25 [19:31<00:00, 46.85s/it]
Tasks: 100%|██████████| 3/3 [1:20:03<00:00, 1557.21s/it]
Tasks: 100%|██████████| 3/3 [1:20:03<00:00, 1601.06s/it]
Evaluating dual_push_buttons | Episode 24 | Score: 0.0 | Lang Goal: push the gray and the silver buttons
Finished dual_push_buttons | Final Score: 12.0
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
add_video needs package moviepy
[03/30/26 14:54:07] INFO INFO:root:Finished _independent_env_runner.py:292
evaluation.
[CoppeliaSim:loadinfo] done.
[W330 14:54:18.109468610 CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]
|