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a/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1/rollout_eval.md b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fd853d4d12655c5fb640364ae08d69fab8ce7587 --- /dev/null +++ b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..4e579bbe8ab2ac6f3420a35ba1804b950ba1265d --- /dev/null +++ b/code/VLAarchtests2_code/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, + 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"success": 0.0, + "return": 0.0, + "path_recoveries": 119, + "noop_fallbacks": 1 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.md b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..b237953b0119e490a909a82fcc2116e7ebc758f6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..d105f5d01cbb51ef51c8d86d6e55eb7c694b2520 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_probe_ik_len120_c4/rollout_eval.partial.json @@ -0,0 +1,1135 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 120, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.5, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 119 + ], + "noop_fallbacks": [ + 1 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + 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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": 118, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 119, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 119, + "noop_fallbacks": 1 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..1e9c888c188951e2eba3f6c83bc74be79c54846a --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.json @@ -0,0 +1,29 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 2, + "episode_length": 120, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.md b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..ff39cc29d86882ee0b081aa08be915d9298fc552 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: error=The call failed on the V-REP side. Return value: -1 diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1e9c888c188951e2eba3f6c83bc74be79c54846a --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/chunk8_smoke_planning_len120_c4/rollout_eval.partial.json @@ -0,0 +1,29 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 2, + "episode_length": 120, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "error": "The call failed on the V-REP side. Return value: -1", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/demo_replay/replay_summary.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/demo_replay/replay_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..29ee9574575e58480f7e9ae672275b313ff49e92 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/demo_replay/replay_summary.json @@ -0,0 +1,41 @@ +{ + "mean_success": 0.8, + "mean_return": 0.8, + "results": [ + { + "demo_index": 0, + "steps": 89, + "success": 1.0, + "return": 1.0, + "error": null + }, + { + "demo_index": 1, + "steps": 112, + "success": 1.0, + "return": 1.0, + "error": null + }, + { + "demo_index": 2, + "steps": 103, + "success": 0.0, + "return": 0.0, + "error": null + }, + { + "demo_index": 3, + "steps": 93, + "success": 1.0, + "return": 1.0, + "error": null + }, + { + "demo_index": 4, + "steps": 112, + "success": 1.0, + "return": 1.0, + "error": null + } + ] +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_global_top1_min005/rollout_eval.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_global_top1_min005/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..12c6b13e4debee8d6b01d8b4e7bdd807a0668c6a --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_global_top1_min005/rollout_eval.json @@ -0,0 +1,130 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_dual_push_buttons", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 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"mean_return": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_top1_planning/rollout_eval.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_top1_planning/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..74c0924674f470c2667ad78dc722eab720fe02f0 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_top1_planning/rollout_eval.json @@ -0,0 +1,144 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_dual_push_buttons", + "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": "planning", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/dual_push_nonzero_branch_20260330/bank_cache/bank_bimanual_dual_push_buttons_bad0c18f98eb8b4c.pt", + "top_k": 1, + "time_window": 8, + "bank_size": 9426, + "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/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_top1_planning_len120_weighted/rollout_eval.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_top1_planning_len120_weighted/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..be5b9b53f1a84ae4f8edec87d892163157310a62 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_top1_planning_len120_weighted/rollout_eval.json @@ -0,0 +1,130 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_weighted_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_dual_push_buttons", + "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": 2, + "episode_length": 120, + "resolution": 256, + "arm_mode": "planning", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/dual_push_nonzero_branch_20260330/bank_cache_weighted/bank_bimanual_dual_push_buttons_35eee82cc259e846.pt", + "top_k": 1, + "time_window": 20, + "min_action_norm": 0.0, + "bank_size": 9426, + "successes": [ + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0 + ], + "episode_errors": [ + null, + null + ], + "mean_success": 0.0, + "mean_return": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_top1_planning_min005/rollout_eval.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_top1_planning_min005/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..ad551239ced6c8d4e2ec573e7cfaf3611a1bb5ec --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/knn_top1_planning_min005/rollout_eval.json @@ -0,0 +1,145 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_dual_push_buttons", + "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, + 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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/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.md b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..67e6e03e767854ea9d73242fe2c2510c8a5f94f4 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_weighted_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..ba0e0cead3ea4f456b082927dba36036fb6f1366 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/weighted_smoke_planning/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_weighted_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/hf_vlaarchtests2_sequential_upload_v2.log b/code/VLAarchtests2_code/reports/hf_vlaarchtests2_sequential_upload_v2.log new file mode 100644 index 0000000000000000000000000000000000000000..216b3cbf620f89d3126cf631d3f3195e4612ab06 --- /dev/null +++ b/code/VLAarchtests2_code/reports/hf_vlaarchtests2_sequential_upload_v2.log @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:566ed96b346143691a3ac5ad42a3ba38fe854336181ae2165e458ad45ec4ed47 +size 19871052 diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..a728c113c22d156317a29d76f521b5703da9183b --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_dual_push_buttons --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..28d44fe0ebbaf50c6997a93240788ec4e4cc04a4 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualDualPushButtons", + "description": "push the olive and the orange buttons", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..a1097997bedab5fd569f3ea63eb7fe1444a8c37e --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_handover_item --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..13d371011df9418bee1a5f1b94d2654572894907 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualHandoverItem", + "description": "bring me the red item", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..d7355d431868290c1d7fa1648384f23245bad2e4 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_handover_item_easy --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..0f9d3c1e7ca5d87a57edd5d0bd8914558037614b --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_handover_item_easy/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualHandoverItemEasy", + "description": "bring me the item", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b469763faaf25b322b37dd0b6b3fa788a4c6fa9 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_lift_ball --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..6339602138f0992a15c39e7904e293bdfe1bdd62 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_ball/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualLiftBall", + "description": "Lift the ball", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..2de31091a7209f2ce30537210dc184e5ca7052e6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_lift_tray --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..416e0e36b8378f5691255806da0037b4eb822738 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_lift_tray/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualLiftTray", + "description": "Lift the tray", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..ddecb81725bdb853688f500fb9b12b6b4e8bdfd7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_pick_laptop --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..26b8f13f5acad936f90b06d6688c82ec60244baa --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_laptop/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualPickLaptop", + "description": "pick up the laptop", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..e168a9df1d2b6f84d4a585c736e20f1a6d7a2014 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_pick_plate --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..48774aec4da572b37f528e7e75113b41f6261232 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_pick_plate/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualPickPlate", + "description": "pick up the plate", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..328737b7efe0e6babbef31ddd7e79119fd9e9eb3 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_push_box --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_push_box/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_push_box/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..d5e207a5132ae70695dcce13fec5547a4b2c1b99 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_push_box/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualPushBox", + "description": "push the box to the red area", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..3638f874c1bb56234f6728e59da6db7d61c9f5be --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_put_bottle_in_fridge --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..f2a40ca618fe3319e0b1c76f7a29f78315887a51 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_bottle_in_fridge/stdout.txt @@ -0,0 +1,39 @@ +[ 0.05 -0.27500001 0.75199997] +{ + "display": ":99", + "headless": true, + "task": "BimanualPutBottleInFridge", + "description": "put bottle in fridge", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..bae6bc8478301ecfde6369a85ed53eea023b63f3 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_put_item_in_drawer --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..ffbe04aee2d7d2e09f8b593877dcddbe9bc07f7c --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stderr.txt @@ -0,0 +1,7 @@ +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (True, '')). +WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (True, '')). +WARNING:root:Waypoints are not reachable right=(False, 'waypoint4 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_put_item_in_drawer. Infeasible episode. Can't reach waypoint ((False, 'waypoint4 - DualPanda'), (True, '')). diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..51c84d886cce725ed1843d955040da6e23454d6b --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_put_item_in_drawer/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualPutItemInDrawer", + "description": "put the item in the bottom drawer", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..20cc9c2dba9687ef498ce2f3cda18664c88b5eb3 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_straighten_rope --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..22ea3a1952b6905754fe409a07a9207f75568f09 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stderr.txt @@ -0,0 +1,5 @@ +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_straighten_rope. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')). +ERROR:root:robot is in collision +ERROR:root:Error when checking waypoints. Exception is: diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..60edb34aff776cb8d9b60bed8ef6cad346e68307 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_straighten_rope/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualStraightenRope", + "description": "straighten rope", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..04b0c82b7ab0818bba30fb5b08dcf4412b1c0748 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_sweep_to_dustpan --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..82c6677e7f5d6907c112dd5229efa57057100267 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_sweep_to_dustpan/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualSweepToDustpan", + "description": "sweep dirt to dustpan", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/command.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..837597dcc586a5b31d64a99d0bf5bfb51649b976 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_take_tray_out_of_oven --resolution 224 --headless diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stderr.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..098beb4f5cf6afd48492b22fd01eefb1841a563a --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stderr.txt @@ -0,0 +1,7 @@ +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (True, '')). +ERROR:root:robot is in collision +ERROR:root:Error when checking waypoints. Exception is: +WARNING:root:Waypoints are not reachable right=(False, 'waypoint3 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint3 - DualPanda'), (True, '')). diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stdout.txt b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..9775a456db4e41e439005d6d7fb844390c5a023d --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/bimanual_take_tray_out_of_oven/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualTakeTrayOutOfOven", + "description": "take tray out of oven", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/launch_smoke_summary.json b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/launch_smoke_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..20d43a766561c89fbafe8db5d227652791ccc006 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/launch_smoke_summary.json @@ -0,0 +1,517 @@ +{ + "resolution": 224, + "headless": true, + "tasks": { + "bimanual_push_box": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualPushBox", + "description": "push the box to the red area", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_lift_ball": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualLiftBall", + "description": "Lift the ball", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_dual_push_buttons": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualDualPushButtons", + "description": "push the olive and the orange buttons", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_pick_plate": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualPickPlate", + "description": "pick up the plate", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_put_item_in_drawer": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualPutItemInDrawer", + "description": "put the item in the bottom drawer", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_put_bottle_in_fridge": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualPutBottleInFridge", + "description": "put bottle in fridge", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_handover_item": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualHandoverItem", + "description": "bring me the red item", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_pick_laptop": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualPickLaptop", + "description": "pick up the laptop", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_straighten_rope": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualStraightenRope", + "description": "straighten rope", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_sweep_to_dustpan": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualSweepToDustpan", + "description": "sweep dirt to dustpan", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_lift_tray": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualLiftTray", + "description": "Lift the tray", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_handover_item_easy": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualHandoverItemEasy", + "description": "bring me the item", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_take_tray_out_of_oven": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualTakeTrayOutOfOven", + "description": "take tray out of oven", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + } + }, + "task_count": 13, + "launch_successes": 13, + "finite_action_tasks": 13, + "error_tasks": [] +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/launch_smoke_summary.md b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/launch_smoke_summary.md new file mode 100644 index 0000000000000000000000000000000000000000..ea6de2b888a8d99a983fa2916e8a5018ed0025c2 --- /dev/null +++ b/code/VLAarchtests2_code/reports/peract2_13_launch_smoke_live/launch_smoke_summary.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Launch Smoke + +- Resolution: `224` +- Headless: `True` +- Task count: `13` +- Launch successes: `13` +- Finite-action tasks: `13` +- Error tasks: `[]` + +## Per-task + +- `bimanual_push_box`: launch_ok=True, action_finite=True, task_class=BimanualPushBox, reward=0.0 +- `bimanual_lift_ball`: launch_ok=True, action_finite=True, task_class=BimanualLiftBall, reward=0.0 +- `bimanual_dual_push_buttons`: launch_ok=True, action_finite=True, task_class=BimanualDualPushButtons, reward=0.0 +- `bimanual_pick_plate`: launch_ok=True, action_finite=True, task_class=BimanualPickPlate, reward=0.0 +- `bimanual_put_item_in_drawer`: launch_ok=True, action_finite=True, task_class=BimanualPutItemInDrawer, reward=0.0 +- `bimanual_put_bottle_in_fridge`: launch_ok=True, action_finite=True, task_class=BimanualPutBottleInFridge, reward=0.0 +- `bimanual_handover_item`: launch_ok=True, action_finite=True, task_class=BimanualHandoverItem, reward=0.0 +- `bimanual_pick_laptop`: launch_ok=True, action_finite=True, task_class=BimanualPickLaptop, reward=0.0 +- `bimanual_straighten_rope`: launch_ok=True, action_finite=True, task_class=BimanualStraightenRope, reward=0.0 +- `bimanual_sweep_to_dustpan`: launch_ok=True, action_finite=True, task_class=BimanualSweepToDustpan, reward=0.0 +- `bimanual_lift_tray`: launch_ok=True, action_finite=True, task_class=BimanualLiftTray, reward=0.0 +- `bimanual_handover_item_easy`: launch_ok=True, action_finite=True, task_class=BimanualHandoverItemEasy, reward=0.0 +- `bimanual_take_tray_out_of_oven`: launch_ok=True, action_finite=True, task_class=BimanualTakeTrayOutOfOven, reward=0.0 diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s005/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s005/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..b540b9391eea1254e34f43358fecf5356bc50cc7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s005/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s005/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s005/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..0f904bb79181c657bf7867c32667564ee23fd2c5 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s005/stderr.txt @@ -0,0 +1,20 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. +WARNING: QApplication was not created in the main() thread. +WARNING:root:not sure how _robot_shapes are used is used. + + +Error: signal 11: + +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_Z11_segHandleri+0x30)[0x76ae9a70aae0] +/lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x76b059c62520] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x76ae98991060] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x76ae98c5da4b] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x76ae98c61a18] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x76b055a9b24a] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x76b055a9b602] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x76b055a99b90] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x76ae9a8d4249] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x76ae9a5db107] +QMutex: destroying locked mutex diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s005/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s005/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc73ed560102f80e1ff90f49666a6fca4dec4219 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s005/stdout.txt @@ -0,0 +1,2 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s01/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s01/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..b40707a9893a342aec5bab529caf2fef52ba5c87 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s01/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + 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"predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s01/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s01/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..33f190c4cc43737be5cdae6f9ff9253835110f68 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s01/stderr.txt @@ -0,0 +1,20 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. +WARNING: QApplication was not created in the main() thread. +WARNING:root:not sure how _robot_shapes are used is used. + + +Error: signal 11: + +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_Z11_segHandleri+0x30)[0x763a67b0aae0] +/lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x763c27748520] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x763a65d91060] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x763a6605da4b] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x763a66061a18] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x763c2369b24a] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x763c2369b602] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x763c23699b90] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x763a67cd4249] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x763a679db107] +QMutex: destroying locked mutex diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s01/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s01/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc73ed560102f80e1ff90f49666a6fca4dec4219 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s01/stdout.txt @@ -0,0 +1,2 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s1/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..8b17042889f70c98cacaa04515b3545a2e3b4474 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s1/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 19 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 19, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s1/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s1/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..a3f8f3ebe0789e75e15c6c9341591807fdb2596d --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s1/stderr.txt @@ -0,0 +1,20 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. +WARNING: QApplication was not created in the main() thread. +WARNING:root:not sure how _robot_shapes are used is used. + + +Error: signal 11: + +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_Z11_segHandleri+0x30)[0x74223bd0aae0] +/lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x7423fb826520] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x742239f91060] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x74223a25da4b] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x74223a261a18] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x7423f769b24a] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x7423f769b602] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x7423f7699b90] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x74223bed4249] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x74223bbdb107] +QMutex: destroying locked mutex diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s1/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s1/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc73ed560102f80e1ff90f49666a6fca4dec4219 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c1_s1/stdout.txt @@ -0,0 +1,2 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c4_s1/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c4_s1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..d7dd53c76b3305249581105cf8bda3e521e7210e --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c4_s1/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c4_s1/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c4_s1/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..9603ac98759e71053276050448fac6edd660a0ea --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c4_s1/stderr.txt @@ -0,0 +1,20 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. +WARNING: QApplication was not created in the main() thread. +WARNING:root:not sure how _robot_shapes are used is used. + + +Error: signal 11: + +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_Z11_segHandleri+0x30)[0x75312e90aae0] +/lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x7532edf50520] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x75312cb91060] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x75312ce5da4b] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x75312ce61a18] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x7532e9e9b24a] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x7532e9e9b602] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x7532e9e99b90] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x75312ead4249] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x75312e7db107] +QMutex: destroying locked mutex diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c4_s1/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c4_s1/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc73ed560102f80e1ff90f49666a6fca4dec4219 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/ik_c4_s1/stdout.txt @@ -0,0 +1,2 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/plan_c4_s1/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/plan_c4_s1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..92e3982e29a89ea44a071eeec23e1fa8dea29b4b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/plan_c4_s1/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/plan_c4_s1/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/plan_c4_s1/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e92d13ce33dc4ef19ffc38a57c633baeb41d3af4 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/plan_c4_s1/stderr.txt @@ -0,0 +1,20 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. +WARNING: QApplication was not created in the main() thread. +WARNING:root:not sure how _robot_shapes are used is used. + + +Error: signal 11: + +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_Z11_segHandleri+0x30)[0x73c5ef50aae0] +/lib/x86_64-linux-gnu/libc.so.6(+0x42520)[0x73c7ae0d2520] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x73c5ed791060] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x73c5eda5da4b] +/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x73c5eda61a18] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x73c7a9e9b24a] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x73c7a9e9b602] +/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x73c7a9e99b90] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x73c5ef6d4249] +/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x73c5ef3db107] +QMutex: destroying locked mutex diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/plan_c4_s1/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/plan_c4_s1/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc73ed560102f80e1ff90f49666a6fca4dec4219 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/plan_c4_s1/stdout.txt @@ -0,0 +1,2 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/summary.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1ca7b3e1866f6c4834c3085d5dee3dae58356640 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib/summary.json @@ -0,0 +1,57 @@ +[ + { + "config": { + "name": "plan_c4_s1", + "arm_mode": "planning", + "chunk_commit_steps": 4, + "delta_scale": 1.0 + }, + "returncode": 1, + "mean_success": null, + "stderr_tail": "kspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x73c5ed791060]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x73c5eda5da4b]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x73c5eda61a18]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x73c7a9e9b24a]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x73c7a9e9b602]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x73c7a9e99b90]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x73c5ef6d4249]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x73c5ef3db107]\nQMutex: destroying locked mutex\n" + }, + { + "config": { + "name": "ik_c4_s1", + "arm_mode": "ik", + "chunk_commit_steps": 4, + "delta_scale": 1.0 + }, + "returncode": 1, + "mean_success": null, + "stderr_tail": "kspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x75312cb91060]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x75312ce5da4b]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x75312ce61a18]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x7532e9e9b24a]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x7532e9e9b602]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x7532e9e99b90]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x75312ead4249]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x75312e7db107]\nQMutex: destroying locked mutex\n" + }, + { + "config": { + "name": "ik_c1_s1", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 1.0 + }, + "returncode": 1, + "mean_success": null, + "stderr_tail": "kspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x742239f91060]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x74223a25da4b]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x74223a261a18]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x7423f769b24a]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x7423f769b602]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x7423f7699b90]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x74223bed4249]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x74223bbdb107]\nQMutex: destroying locked mutex\n" + }, + { + "config": { + "name": "ik_c1_s01", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 0.1 + }, + "returncode": 1, + "mean_success": null, + "stderr_tail": "kspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x763a65d91060]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x763a6605da4b]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x763a66061a18]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x763c2369b24a]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x763c2369b602]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x763c23699b90]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x763a67cd4249]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x763a679db107]\nQMutex: destroying locked mutex\n" + }, + { + "config": { + "name": "ik_c1_s005", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 0.05 + }, + "returncode": 1, + "mean_success": null, + "stderr_tail": "kspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZNK14QOpenGLContext10shareGroupEv+0x0)[0x76ae98991060]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN16QOpenGLFunctions25initializeOpenGLFunctionsEv+0x4b)[0x76ae98c5da4b]\n/workspace/assets/coppeliasim_v4_1_0/libQt5Gui.so.5(_ZN24QOpenGLFramebufferObjectC1EiiNS_10AttachmentEjj+0xc8)[0x76ae98c61a18]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN18CFrameBufferObjectC2Eii+0x5a)[0x76b055a9b24a]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_ZN16COpenglOffscreenC1EiiiP14QOpenGLContext+0x72)[0x76b055a9b602]\n/workspace/assets/coppeliasim_v4_1_0/libsimExtOpenGL3Renderer.so(_Z21executeRenderCommandsbiPv+0x2550)[0x76b055a99b90]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN16CPluginContainer11extRendererEiPv+0x19)[0x76ae9a8d4249]\n/workspace/assets/coppeliasim_v4_1_0/libcoppeliaSim.so.1(_ZN13CVisionSensor24_extRenderer_prepareViewEi+0x347)[0x76ae9a5db107]\nQMutex: destroying locked mutex\n" + } +] \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..7616c2ba4f5a3b0330d722c124dffb186eedf6be --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..87214e6ac24bd80a652fca0946ae1f500e80e00f --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..b40707a9893a342aec5bab529caf2fef52ba5c87 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..b40707a9893a342aec5bab529caf2fef52ba5c87 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..22a312d01080119d8c2651836484ba706eac2a0d --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..4ca60bb4fccf9b8c27c2d1ca39ac000b9482f108 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf06ff66746ab1e88d990207cc1bd62ee1a518a --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 1 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6568ca27962f2fb30e2e5b66e6e3acf4f705c233 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..6cf06ff66746ab1e88d990207cc1bd62ee1a518a --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 1 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..23e77b7e0a70a5f79375dc07de5460edecb105f7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 1 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..7c12a247bb6623ebc0f50788fcb93fc9d2288fa0 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8d07693713faa4092c1b685999c65f0af0ded3 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..64ae08894887373a736d55ba999caeda0e32e2b6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8d07693713faa4092c1b685999c65f0af0ded3 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..88605dd5ba52bb0b9352548574b8fe7204631a68 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..51169999a97b2ad114480b7d1c000f9d165e8ac2 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..d7dd53c76b3305249581105cf8bda3e521e7210e --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..d7dd53c76b3305249581105cf8bda3e521e7210e --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": 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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, + 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+WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..73f2636618798857ccdfe699976e0c38357aee18 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": 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+ ], + "path_recoveries": [ + 1 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..e481c3bc9f173ddc4a77353759781ce12e71d494 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Arm mode: `ik` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[1], noop_fallbacks=[0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/sweep_stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/sweep_stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/sweep_stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/sweep_stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..02a577549774e8592228102825c75da3381e4b75 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/sweep_stdout.txt @@ -0,0 +1,8 @@ +[peract2-sweep] running task=bimanual_push_box plan=False +[peract2-sweep] running task=bimanual_lift_ball plan=False +[peract2-sweep] running task=bimanual_dual_push_buttons plan=False +{ + "generated": [ + "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split/rollout_eval.json" + ] +} diff --git a/code/VLAarchtests2_code/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..92e3982e29a89ea44a071eeec23e1fa8dea29b4b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..92e3982e29a89ea44a071eeec23e1fa8dea29b4b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_debug_common23_pushbox_ep1/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..46305dbd47d2f51da1fddac60a8aa95303b191a7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..1e611dff51e4f06bbdda0b9047fa5507ded23d4c --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fd853d4d12655c5fb640364ae08d69fab8ce7587 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1e611dff51e4f06bbdda0b9047fa5507ded23d4c --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + 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"path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..3c75805fe8aa5188142547e5efe5fd8b6b0936a2 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..c7166df423745f356c385844b1fc4a18f69cadcb --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 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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 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..76b596aa7f03533c631bc4b3b0baabf30c9db92c --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..c7166df423745f356c385844b1fc4a18f69cadcb --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "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, + 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"path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..11b51fbf2ce5db11a582945d9a204968dfad97ad --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..22192ee21321c5c7933b41eee4ddae696a0ebed6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "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 + ], + "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 + 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a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..f660ef66da0ac27692fd0cbd8dcb47af2f00829b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..22192ee21321c5c7933b41eee4ddae696a0ebed6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_planning_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + 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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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_epoch0_knn_ep5_x99_res224_len180_train80/rollout_eval.json b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80.log b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed.log b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..80e6cb86d514842535a3d91ac1c431237739fe46 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box --task bimanual_push_box --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 10 --episode-length 180 --resolution 224 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 8 --bank-cache-dir /workspace/reports/rlbench_general_debug/knn_bank_cache --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..430b20955521296d77ff12db70e095282eec0209 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json @@ -0,0 +1,159 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_759bd0202db119fd.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "returns": [ + 1.0, + 0.0, + 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b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..288a557bfe5de5c853d1d4b16c5efd0120ca625d --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt @@ -0,0 +1,160 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_759bd0202db119fd.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "returns": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.7, + "mean_return": 0.7 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..ba01983198143813a427510e02b657a9c9f308bc --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json @@ -0,0 +1,266 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "device": "cuda", + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_batch_size": 32, + "bank_stride": 1, + "bank_num_workers": 8, + "bank_cache_dir": "/workspace/reports/rlbench_general_debug/knn_bank_cache", + "top_k": 1, + "time_window": 4, + "reset_retries": 20, + "tasks": { + "bimanual_push_box": { + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_759bd0202db119fd.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "returns": [ + 1.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 1.0, + 1.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.7, + "mean_return": 0.7, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 1, + "error_tasks": [], + "mean_success": 0.7 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..4f8499e4954588bc6170823312b03bf47ca2a8ed --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md @@ -0,0 +1,23 @@ +# RLBench kNN Task Sweep + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt` +- Dataset root: `/workspace/data/rlbench2_subset3` +- Episodes per task: `10` +- Episode length: `180` +- Resolution: `224` +- Arm mode: `ik` +- Delta scale: `1.0` +- Top-k: `1` +- Time window: `4` +- Bank stride: `1` +- Bank batch size: `32` +- Bank workers: `8` +- Reset retries: `20` +- Train episodes: `[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79]` +- Task count: `1` +- Error tasks: `[]` +- Mean success: `0.700` + +## Per-task + +- `bimanual_push_box`: mean_success=0.700, mean_return=0.700, bank_size=11259, path_recoveries=[0, 0, 0, 0, 0, 0, 1, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0], error=None, subprocess_returncode=0 diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep5_x99_res224_len180_train80.log b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep5_x99_res224_len180_train80/rollout_eval.json b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed.log b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..13bf4793e70ccd4025f4bf86aee3c11c8115acd7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box --task bimanual_push_box --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 10 --episode-length 180 --resolution 224 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 8 --bank-cache-dir /workspace/reports/rlbench_general_debug/knn_bank_cache --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99.log b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99.log new file mode 100644 index 0000000000000000000000000000000000000000..0c3880a6503c84fb837de245f328fcd02ae818c7 --- /dev/null +++ b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224.log b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224/rollout_eval.json b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224_len180_train80.log b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_res224_len180_train80/rollout_eval.json b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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", + "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 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_workers8.log b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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": "/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": "/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_old_step1_control_knn_ep5_x99_workers8/rollout_eval.json b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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, + 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"best_val_total": 0.0361817446143046, "best_checkpoint_updated": false, "epoch_seconds": 122.37477564811707} +{"phase": "epoch_complete", "epoch": 2, "train_total": 0.03998100150418503, "val_total": 0.03761369556113461, "best_val_total": 0.0361817446143046, "best_checkpoint_updated": 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": 0.039711598802398655, + "final_val_total": 0.036955388013744116, + "train_dataset": { + "dataset_root": "/workspace/data/rlbench2_subset3", + "tasks": [ + "bimanual_lift_ball", + "bimanual_push_box", + "bimanual_dual_push_buttons" + ], + "episode_indices": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 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"trainable_parameter_prefixes": [], + "trainable_parameter_names": [], + "train_seconds": 805.0946624279022 +} diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17_train.log b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17_train.log b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5.log b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5.log new file mode 100644 index 0000000000000000000000000000000000000000..d733e0a8a2f5c0d4bcc9625267d6ae0a390bf54d --- /dev/null +++ b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99.log b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..b796ea77e39673aa3b8ad19a483866fc479f1527 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons --task bimanual_dual_push_buttons --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 0 --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/stderr.txt b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_dual_push_buttons/stdout.txt b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..b94e0d81cbffff36982a49fb4c516c06fea4b0be --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball --task bimanual_lift_ball --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 0 --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..0c3880a6503c84fb837de245f328fcd02ae818c7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/stderr.txt @@ -0,0 +1,2 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..c8029a388fd7b78545d52ea05ba9d6a381826fd8 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box --task bimanual_push_box --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 0 --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..b7d5b41661abc2a77bd06594e8501d6e6d44be57 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/rollout_eval.json @@ -0,0 +1,143 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "top_k": 1, + "time_window": 4, + "bank_size": 12626, + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.0, + "mean_return": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..0da6f3ec2479ef902aabb5aba2ae4f1ee1652d12 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/bimanual_push_box/stdout.txt @@ -0,0 +1,144 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "top_k": 1, + "time_window": 4, + "bank_size": 12626, + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null + ], + "mean_success": 0.0, + "mean_return": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/rollout_eval.json b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5_x99/rollout_eval.md b/code/VLAarchtests2_code/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/code/VLAarchtests2_code/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/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..a36e466473e86a00f732d0b12d3fb31e0765c9c7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..35ddc86ef42c02e12d2747f0c7aad60d2c1dae22 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,34 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..64e6d3102bea7accd45a1a20ebe1085fd76d5590 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..35ddc86ef42c02e12d2747f0c7aad60d2c1dae22 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,34 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..4e5fe1afd4200b187eff73f077048d3424e8d6c3 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..582510becb8cc8e600b4b3cb5b49da8ec2a9531c --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,38 @@ +The cache for model files in Transformers v4.22.0 has been updated. Migrating your old cache. This is a one-time only operation. You can interrupt this and resume the migration later on by calling `transformers.utils.move_cache()`. + +0it [00:00, ?it/s] +0it [00:00, ?it/s] +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..3f5b0d026d5d117acd42022f2de920467dbf4ba0 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.json @@ -0,0 +1,44 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [ + "bimanual_dual_push_buttons", + "bimanual_lift_ball", + "bimanual_push_box" + ], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..0ee7487b7f8c8c27260c307a364f694cbcc59bbc --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_noplan_split/rollout_eval.md @@ -0,0 +1,21 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `['bimanual_dual_push_buttons', 'bimanual_lift_ball', 'bimanual_push_box']` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..51d65569e33d94aeaa3662ffa4a7f8d7b55ac046 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..35ddc86ef42c02e12d2747f0c7aad60d2c1dae22 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,34 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..4401555aff20a67efe93bf9ad66f1cb9aab4475b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..35ddc86ef42c02e12d2747f0c7aad60d2c1dae22 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,34 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..158caea83e8ae9eb8d6bc912724a30dbb09c9323 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..35ddc86ef42c02e12d2747f0c7aad60d2c1dae22 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,34 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/cuda/__init__.py:209: UserWarning: +NVIDIA RTX PRO 6000 Blackwell Server Edition with CUDA capability sm_120 is not compatible with the current PyTorch installation. +The current PyTorch install supports CUDA capabilities sm_50 sm_60 sm_61 sm_70 sm_75 sm_80 sm_86 sm_90. +If you want to use the NVIDIA RTX PRO 6000 Blackwell Server Edition GPU with PyTorch, please check the instructions at https://pytorch.org/get-started/locally/ + + warnings.warn( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 520, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_rollout_eval.py", line 224, in main + model = build_policy(policy_config, trainer_config).to(device) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1173, in to + return self._apply(convert) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 779, in _apply + module._apply(fn) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 222, in _apply + self._init_flat_weights() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 158, in _init_flat_weights + self.flatten_parameters() + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/rnn.py", line 209, in flatten_parameters + torch._cudnn_rnn_flatten_weight( +RuntimeError: CUDA error: no kernel image is available for execution on the device +CUDA kernel errors might be asynchronously reported at some other API call, so the stacktrace below might be incorrect. +For debugging consider passing CUDA_LAUNCH_BLOCKING=1. +Compile with `TORCH_USE_CUDA_DSA` to enable device-side assertions. + diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..3ad5d86ff7ce65f7c5b8d5af7c9da3fa6b3ef0d6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.json @@ -0,0 +1,44 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "error": "subprocess_exit_1", + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 1, + "rollout_path": "/workspace/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [ + "bimanual_dual_push_buttons", + "bimanual_lift_ball", + "bimanual_push_box" + ], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..e5019f9bac88466cadbed72ea3da7e3343cf4b48 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_subset3_common23_live_ep1/baseline_common23_seed17_plan_split/rollout_eval.md @@ -0,0 +1,21 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `['bimanual_dual_push_buttons', 'bimanual_lift_ball', 'bimanual_push_box']` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, error=subprocess_exit_1, subprocess_returncode=1 diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..3da84665e0332a1df49b8f3151cb1a28f6f32019 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt --output-dir /workspace/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..bd05db461cac5bac80b389cd72c7ea71e05e177b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 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, + 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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/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..dd2d558a84fa82324720d1898246e6de70611119 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..bd05db461cac5bac80b389cd72c7ea71e05e177b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + 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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 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..8c17b188c77d6e6f75e94e5496941e5166614b99 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt --output-dir /workspace/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..6579c0f9166246be23de8c9f60cb22a5f548d541 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..e862882bf44b14e9c1c91666be8349c692b3764f --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..6579c0f9166246be23de8c9f60cb22a5f548d541 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "CoordinatedLiftBall", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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, + 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b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..257e896794164e4c3106988d64757175827d51cd --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,5 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(True, '') left=(False, 'waypoint1 - DualPanda') +ERROR:root:Error when checking waypoints. Exception is: Error in task coordinated_lift_ball. Infeasible episode. 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b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..c1ef84cdb94056577c70618362d8ff83609006d1 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt --output-dir /workspace/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..8f7339ccc108447c11d76692f5f5a84406d59d70 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": 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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": 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/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d2a253c1cdd4e43eb954c17e6341603f40b203e5 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..8f7339ccc108447c11d76692f5f5a84406d59d70 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "CoordinatedPushBox", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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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/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..45a955cead218cd85541b08992a88037475578a7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,6018 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": 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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, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/rollout_eval.md b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..60d6c2cd3645fbb3632501727b1671a6fee1f1a2 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/evals/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `25` +- Episode length: `25` +- Resolution: `256` +- No planner: `False` +- Arm mode: `planning` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0] diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/gate_stage1.txt b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/gate_stage1.txt new file mode 100644 index 0000000000000000000000000000000000000000..cb05f6420460b66dd7389daa7c9eba1fa2ee881f --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/gate_stage1.txt @@ -0,0 +1 @@ +[gate] stage1_mean_success=0.0 local_floor=0.16 run_stage2=0 diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/knn_bank_cache/bank_bimanual_push_box_a063f1aa42cca94f.pt b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/knn_bank_cache/bank_bimanual_push_box_a063f1aa42cca94f.pt new file mode 100644 index 0000000000000000000000000000000000000000..55552cbef9136279f993b5723c2d7d747cbe0b87 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/knn_bank_cache/bank_bimanual_push_box_a063f1aa42cca94f.pt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:650efae7bd7086f0f7a49855f1c0f3b79d1b78ec28c2e0eeab727704e6cba71b +size 23781505 diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/knn_push_box_recovered_ep10/rollout_eval.json b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/knn_push_box_recovered_ep10/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..10d06d7dbbe6d0e9cdb39ab38d58c9840e412cfb --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/knn_push_box_recovered_ep10/rollout_eval.json @@ -0,0 +1,159 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rvt_overlap_branch_20260330/knn_bank_cache/bank_bimanual_push_box_a063f1aa42cca94f.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 13, + 18, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + "The call failed on the V-REP side by returning null.", + "The call failed on the V-REP side. Return value: -1", + "The call failed on the V-REP side. Return value: -1", + "The call failed on the V-REP side. Return value: -1", + "The call failed on the V-REP side. Return value: -1", + "The call failed on the V-REP side. Return value: -1", + "The call failed on the V-REP side. Return value: -1" + ], + "mean_success": 0.0, + "mean_return": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..926939b6073dfa8bca740f004dec6b76b8b3b4ef --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.json @@ -0,0 +1,29 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 5, + "resolution": 256, + "reset_retries": 2, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "error": "No module named 'rlbench.bimanual_tasks.coordinated_push_box'", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..f3aaa9f40fbb466abd1a7395296a588188e069c6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: error=No module named 'rlbench.bimanual_tasks.coordinated_push_box' diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..926939b6073dfa8bca740f004dec6b76b8b3b4ef --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/manual_smoke_push_box/rollout_eval.partial.json @@ -0,0 +1,29 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_rvt_branch/rlbench_subset3_backbone_only_rvt_100demo_frozen_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 5, + "resolution": 256, + "reset_retries": 2, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "error": "No module named 'rlbench.bimanual_tasks.coordinated_push_box'", + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_train.log b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_train.log new file mode 100644 index 0000000000000000000000000000000000000000..7b4501029d26bef7c1d680e5f42ff4df379c9db9 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_20260330/rlbench_subset3_backbone_only_rvt_100demo_frozen_fixedbounds_seed17_train.log @@ -0,0 +1,795 @@ +{"phase": "datasets_ready", "train_samples": 34014, "val_samples": 3728} + Loading weights: 0%| | 0/197 [00:00