Add files using upload-large-folder tool

artifacts/reports/anchor_dual_push_smoke/original_trunk/rollout_eval.partial.json

@@ -0,0 +1,29 @@
+{
+  "checkpoint": "/workspace/workspace/VLAarchtests2/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": 5,
+  "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
+}

artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=5 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke1 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper

artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stderr.txt

@@ -0,0 +1,35 @@
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
+  warnings.warn(msg, UserWarning)
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
+See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
+  deprecation_warning(
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
+See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
+  ret = run_job(
+/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  from pkg_resources import parse_version
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  from pkg_resources import parse_version
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/third_party/YARR/yarr/utils/rollout_generator.py:73: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /opt/conda/conda-bld/pytorch_1716905979055/work/torch/csrc/utils/tensor_new.cpp:274.)
+  prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}
+[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]

artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stdout.txt

@@ -0,0 +1,167 @@
+[2026-03-31 23:03:30,597][root][INFO] - 
+method:
+  name: PERACT_BC
+  agent_type: leader_follower
+  robot_name: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 4
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+rlbench:
+  task_name: perlf_release_dual_push_buttons_smoke1
+  tasks:
+  - dual_push_buttons
+  demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
+  episode_length: 25
+  cameras:
+  - over_shoulder_left
+  - over_shoulder_right
+  - overhead
+  - wrist_right
+  - wrist_left
+  - front
+  camera_resolution:
+  - 256
+  - 256
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  time_in_state: true
+  headless: true
+  gripper_mode: BimanualDiscrete
+  arm_action_mode: BimanualEndEffectorPoseViaPlanning
+  action_mode: BimanualMoveArmThenGripper
+framework:
+  tensorboard_logging: true
+  csv_logging: true
+  gpu: 0
+  logdir: /workspace/baselines/AnyBimanual_release_eval_live
+  start_seed: 0
+  record_every_n: 5
+  eval_envs: 1
+  eval_from_eps_number: 0
+  eval_episodes: 5
+  eval_type: 60000
+  eval_save_metrics: true
+cinematic_recorder:
+  enabled: false
+  camera_resolution:
+  - 1280
+  - 720
+  fps: 30
+  rotate_speed: 0.005
+  save_path: /tmp/videos/
+
+[2026-03-31 23:03:30,615][root][INFO] - Using env device cuda:0.
+[2026-03-31 23:03:30,617][root][INFO] - Evaluating seed 0.
+[2026-03-31 23:03:30,618][root][INFO] - Using method PERACT_BC with type leader_follower
+Weight: [60000]
+[03/31/26 23:04:12] INFO     INFO:root:eval_env:  _independent_env_runner.py:131
+                             Launching env.                                     
+                    INFO     INFO:root:Agent      _independent_env_runner.py:134
+                             information:                                       
+                    INFO     INFO:root:<yarr.agen _independent_env_runner.py:135
+                             ts.agent.LeaderFollo                               
+                             werAgent object at                                 
+                             0x757414ac38e0>                                    
+[03/31/26 23:04:14] INFO     INFO:root:Using dual panda robot environment.py:117
+                    INFO     INFO:root:Setting control    arm_action_modes.py:79
+                             mode for both robots                               
+                    WARNING  WARNING:root:not sure how    task_environment.py:57
+                             _robot_shapes are used is                          
+                             used.                                              
+                    INFO     INFO:root:Evaluating _independent_env_runner.py:165
+                             weight 60000                                       
+loaded weights from /workspace/baselines/AnyBimanual_release_eval_live/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt
+loaded weights from /workspace/baselines/AnyBimanual_release_eval_live/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt
+                    INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 0,                                
+                             seed 0.                                            
+[03/31/26 23:04:45] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
+[03/31/26 23:05:21] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 1,                                
+                             seed 1.                                            
+[03/31/26 23:06:00] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons
+[03/31/26 23:06:28] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 2,                                
+                             seed 2.                                            
+[03/31/26 23:07:02] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 2 | Score: 100.0 | Lang Goal: push the violet and the blue buttons
+[03/31/26 23:07:17] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 3,                                
+                             seed 3.                                            
+[03/31/26 23:07:50] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 3 | Score: 100.0 | Lang Goal: push the green and the violet buttons
+[03/31/26 23:07:58] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 4,                                
+                             seed 4.                                            
+[03/31/26 23:08:38] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 4 | Score: 100.0 | Lang Goal: push the olive and the violet buttons
+Finished bimanual_dual_push_buttons | Final Score: 60.0
+
+moviepy is installed, but can't import moviepy.editor. Some packages could be missing [imageio, requests]
+[03/31/26 23:09:00] INFO     INFO:root:Finished   _independent_env_runner.py:293
+                             evaluation.                                        
+[CoppeliaSim:loadinfo]   done.

artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/summary.json

@@ -0,0 +1,41 @@
+{
+  "adapter_mode": "adapter_noop",
+  "task_name": "perlf_release_dual_push_buttons_smoke1",
+  "tasks": [
+    "dual_push_buttons"
+  ],
+  "task_families": [
+    "generic"
+  ],
+  "passthrough_only": true,
+  "passthrough_reason": "generic_task_family",
+  "episodes_requested": 5,
+  "episode_scores": [
+    0.0,
+    0.0,
+    100.0,
+    100.0,
+    100.0
+  ],
+  "mean_score": 60.0,
+  "final_score": 60.0,
+  "subprocess_returncode": 0,
+  "command": [
+    "/workspace/envs/rlbench/bin/python",
+    "/workspace/third_party/AnyBimanual/eval.py",
+    "method=PERACT_BC",
+    "framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live",
+    "framework.start_seed=0",
+    "framework.eval_type=60000",
+    "framework.eval_episodes=5",
+    "framework.eval_envs=1",
+    "framework.gpu=0",
+    "rlbench.task_name=perlf_release_dual_push_buttons_smoke1",
+    "rlbench.tasks=[dual_push_buttons]",
+    "rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
+    "rlbench.headless=True",
+    "rlbench.gripper_mode=BimanualDiscrete",
+    "rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
+    "rlbench.action_mode=BimanualMoveArmThenGripper"
+  ]
+}

artifacts/reports/anybimanual_anchor_bridge/trunk_only_ep25/stderr.txt

@@ -0,0 +1,36 @@
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
+  warnings.warn(msg, UserWarning)
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
+See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
+  deprecation_warning(
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
+See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
+  ret = run_job(
+/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  from pkg_resources import parse_version
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  from pkg_resources import parse_version
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+qt.qpa.plugin: Could not find the Qt platform plugin "xcb" in ""
+This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
+
+[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]

artifacts/reports/anybimanual_anchor_bridge/trunk_only_ep5/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=5 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke1 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper

artifacts/reports/anybimanual_anchor_bridge/trunk_only_ep5/stdout.txt

@@ -0,0 +1,167 @@
+[2026-03-31 22:50:11,766][root][INFO] - 
+method:
+  name: PERACT_BC
+  agent_type: leader_follower
+  robot_name: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 4
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+rlbench:
+  task_name: perlf_release_dual_push_buttons_smoke1
+  tasks:
+  - dual_push_buttons
+  demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
+  episode_length: 25
+  cameras:
+  - over_shoulder_left
+  - over_shoulder_right
+  - overhead
+  - wrist_right
+  - wrist_left
+  - front
+  camera_resolution:
+  - 256
+  - 256
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  time_in_state: true
+  headless: true
+  gripper_mode: BimanualDiscrete
+  arm_action_mode: BimanualEndEffectorPoseViaPlanning
+  action_mode: BimanualMoveArmThenGripper
+framework:
+  tensorboard_logging: true
+  csv_logging: true
+  gpu: 0
+  logdir: /workspace/baselines/AnyBimanual_release_eval_live
+  start_seed: 0
+  record_every_n: 5
+  eval_envs: 1
+  eval_from_eps_number: 0
+  eval_episodes: 5
+  eval_type: 60000
+  eval_save_metrics: true
+cinematic_recorder:
+  enabled: false
+  camera_resolution:
+  - 1280
+  - 720
+  fps: 30
+  rotate_speed: 0.005
+  save_path: /tmp/videos/
+
+[2026-03-31 22:50:11,776][root][INFO] - Using env device cuda:0.
+[2026-03-31 22:50:11,777][root][INFO] - Evaluating seed 0.
+[2026-03-31 22:50:11,777][root][INFO] - Using method PERACT_BC with type leader_follower
+Weight: [60000]
+[03/31/26 22:50:48] INFO     INFO:root:eval_env:  _independent_env_runner.py:131
+                             Launching env.                                     
+                    INFO     INFO:root:Agent      _independent_env_runner.py:134
+                             information:                                       
+                    INFO     INFO:root:<yarr.agen _independent_env_runner.py:135
+                             ts.agent.LeaderFollo                               
+                             werAgent object at                                 
+                             0x72a30c833970>                                    
+[03/31/26 22:50:49] INFO     INFO:root:Using dual panda robot environment.py:117
+                    INFO     INFO:root:Setting control    arm_action_modes.py:79
+                             mode for both robots                               
+                    WARNING  WARNING:root:not sure how    task_environment.py:57
+                             _robot_shapes are used is                          
+                             used.                                              
+                    INFO     INFO:root:Evaluating _independent_env_runner.py:165
+                             weight 60000                                       
+loaded weights from /workspace/baselines/AnyBimanual_release_eval_live/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt
+loaded weights from /workspace/baselines/AnyBimanual_release_eval_live/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt
+[03/31/26 22:50:50] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 0,                                
+                             seed 0.                                            
+[03/31/26 22:51:22] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
+[03/31/26 22:51:56] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 1,                                
+                             seed 1.                                            
+[03/31/26 22:52:40] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons
+[03/31/26 22:53:06] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 2,                                
+                             seed 2.                                            
+[03/31/26 22:53:40] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 2 | Score: 100.0 | Lang Goal: push the violet and the blue buttons
+[03/31/26 22:54:10] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 3,                                
+                             seed 3.                                            
+[03/31/26 22:54:44] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 3 | Score: 0.0 | Lang Goal: push the green and the violet buttons
+[03/31/26 22:55:18] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 4,                                
+                             seed 4.                                            
+[03/31/26 22:56:00] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 4 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
+Finished bimanual_dual_push_buttons | Final Score: 20.0
+
+moviepy is installed, but can't import moviepy.editor. Some packages could be missing [imageio, requests]
+[03/31/26 22:56:42] INFO     INFO:root:Finished   _independent_env_runner.py:293
+                             evaluation.                                        
+[CoppeliaSim:loadinfo]   done.

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=1 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke1 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/stderr.txt

@@ -0,0 +1,20 @@
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
+  warnings.warn(msg, UserWarning)
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
+See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
+  deprecation_warning(
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
+See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
+  ret = run_job(
+Error executing job with overrides: ['method=PERACT_BC', 'framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir', 'framework.start_seed=0', 'framework.eval_type=60000', 'framework.eval_episodes=1', 'framework.eval_envs=1', 'framework.gpu=0', 'rlbench.task_name=perlf_release_dual_push_buttons_smoke1', 'rlbench.tasks=[dual_push_buttons]', 'rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root', 'rlbench.headless=True', 'rlbench.gripper_mode=BimanualDiscrete', 'rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning', 'rlbench.action_mode=BimanualMoveArmThenGripper']
+Traceback (most recent call last):
+  File "/workspace/third_party/AnyBimanual/eval.py", line 201, in main
+    raise Exception(f"Missing seed{start_seed}/config.yaml. Logdir is {logdir}")
+Exception: Missing seed0/config.yaml. Logdir is /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0
+
+Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/stdout.txt

@@ -0,0 +1,109 @@
+[2026-04-01 00:19:40,192][root][INFO] - 
+method:
+  name: PERACT_BC
+  agent_type: leader_follower
+  robot_name: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 4
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+rlbench:
+  task_name: perlf_release_dual_push_buttons_smoke1
+  tasks:
+  - dual_push_buttons
+  demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
+  episode_length: 25
+  cameras:
+  - over_shoulder_left
+  - over_shoulder_right
+  - overhead
+  - wrist_right
+  - wrist_left
+  - front
+  camera_resolution:
+  - 256
+  - 256
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  time_in_state: true
+  headless: true
+  gripper_mode: BimanualDiscrete
+  arm_action_mode: BimanualEndEffectorPoseViaPlanning
+  action_mode: BimanualMoveArmThenGripper
+framework:
+  tensorboard_logging: true
+  csv_logging: true
+  gpu: 0
+  logdir: /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir
+  start_seed: 0
+  record_every_n: 5
+  eval_envs: 1
+  eval_from_eps_number: 0
+  eval_episodes: 1
+  eval_type: 60000
+  eval_save_metrics: true
+cinematic_recorder:
+  enabled: false
+  camera_resolution:
+  - 1280
+  - 720
+  fps: 30
+  rotate_speed: 0.005
+  save_path: /tmp/videos/
+

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/summary.json

@@ -0,0 +1,36 @@
+{
+  "adapter_mode": "trunk_only",
+  "task_name": "perlf_release_dual_push_buttons_smoke1",
+  "tasks": [
+    "dual_push_buttons"
+  ],
+  "task_families": [
+    "generic"
+  ],
+  "passthrough_only": true,
+  "passthrough_reason": "generic_task_family",
+  "episodes_requested": 1,
+  "episode_scores": [],
+  "mean_score": 0.0,
+  "final_score": null,
+  "subprocess_returncode": 1,
+  "eval_csv_path": "/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv",
+  "command": [
+    "/workspace/envs/rlbench/bin/python",
+    "/workspace/third_party/AnyBimanual/eval.py",
+    "method=PERACT_BC",
+    "framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir",
+    "framework.start_seed=0",
+    "framework.eval_type=60000",
+    "framework.eval_episodes=1",
+    "framework.eval_envs=1",
+    "framework.gpu=0",
+    "rlbench.task_name=perlf_release_dual_push_buttons_smoke1",
+    "rlbench.tasks=[dual_push_buttons]",
+    "rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
+    "rlbench.headless=True",
+    "rlbench.gripper_mode=BimanualDiscrete",
+    "rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
+    "rlbench.action_mode=BimanualMoveArmThenGripper"
+  ]
+}

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/config.yaml

@@ -0,0 +1,139 @@
+ddp:
+  master_addr: localhost
+  master_port: 13985
+  num_devices: 2
+rlbench:
+  task_name: perlf+ab
+  tasks:
+  - bimanual_pick_laptop
+  - bimanual_pick_plate
+  - bimanual_straighten_rope
+  - coordinated_lift_ball
+  - coordinated_lift_tray
+  - coordinated_push_box
+  - coordinated_put_bottle_in_fridge
+  - dual_push_buttons
+  - handover_item
+  - bimanual_sweep_to_dustpan
+  - coordinated_take_tray_out_of_oven
+  - handover_item_easy
+  demos: 100
+  demo_path: /mnt/disk_1/tengbo/bimanual_data/train
+  episode_length: 25
+  cameras:
+  - over_shoulder_right
+  - wrist_right
+  - front
+  - overhead
+  - over_shoulder_left
+  - wrist_left
+  camera_resolution:
+  - 256
+  - 256
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  instructions: ''
+replay:
+  batch_size: 2
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /mnt/disk_2/tengbo/replay/
+  max_parallel_processes: 32
+  task_folder: multi
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 100001
+  gpu: 0
+  env_gpu: 0
+  logdir: /mnt/disk_1/tengbo/peract_bimanual/log
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: false
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint
+  use_wandb: true
+  wandb_project: ''
+  wandb_group: perlf+ab
+  seed: 0
+  wandb_name: perlf+ab
+  use_skill: true
+  use_pretrained: false
+  use_prefix: false
+  frozen: ''
+  anybimanual: true
+  augmentation_type: ab
+method:
+  name: PERACT_BC
+  agent_type: leader_follower
+  robot_name: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 4
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=1 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke1 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/stderr.txt

@@ -0,0 +1,35 @@
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
+  warnings.warn(msg, UserWarning)
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
+See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
+  deprecation_warning(
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
+See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
+  ret = run_job(
+/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  from pkg_resources import parse_version
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  from pkg_resources import parse_version
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/third_party/YARR/yarr/utils/rollout_generator.py:73: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /opt/conda/conda-bld/pytorch_1716905979055/work/torch/csrc/utils/tensor_new.cpp:274.)
+  prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}
+[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/stdout.txt

@@ -0,0 +1,142 @@
+[2026-04-01 00:20:32,954][root][INFO] - 
+method:
+  name: PERACT_BC
+  agent_type: leader_follower
+  robot_name: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 4
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+rlbench:
+  task_name: perlf_release_dual_push_buttons_smoke1
+  tasks:
+  - dual_push_buttons
+  demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
+  episode_length: 25
+  cameras:
+  - over_shoulder_left
+  - over_shoulder_right
+  - overhead
+  - wrist_right
+  - wrist_left
+  - front
+  camera_resolution:
+  - 256
+  - 256
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  time_in_state: true
+  headless: true
+  gripper_mode: BimanualDiscrete
+  arm_action_mode: BimanualEndEffectorPoseViaPlanning
+  action_mode: BimanualMoveArmThenGripper
+framework:
+  tensorboard_logging: true
+  csv_logging: true
+  gpu: 0
+  logdir: /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir
+  start_seed: 0
+  record_every_n: 5
+  eval_envs: 1
+  eval_from_eps_number: 0
+  eval_episodes: 1
+  eval_type: 60000
+  eval_save_metrics: true
+cinematic_recorder:
+  enabled: false
+  camera_resolution:
+  - 1280
+  - 720
+  fps: 30
+  rotate_speed: 0.005
+  save_path: /tmp/videos/
+
+[2026-04-01 00:20:32,964][root][INFO] - Using env device cuda:0.
+[2026-04-01 00:20:32,965][root][INFO] - Evaluating seed 0.
+[2026-04-01 00:20:32,965][root][INFO] - Using method PERACT_BC with type leader_follower
+Weight: [60000]
+[04/01/26 00:20:52] INFO     INFO:root:eval_env:  _independent_env_runner.py:131
+                             Launching env.                                     
+                    INFO     INFO:root:Agent      _independent_env_runner.py:134
+                             information:                                       
+                    INFO     INFO:root:<yarr.agen _independent_env_runner.py:135
+                             ts.agent.LeaderFollo                               
+                             werAgent object at                                 
+                             0x7fb50f2eb9d0>                                    
+[04/01/26 00:20:53] INFO     INFO:root:Using dual panda robot environment.py:117
+                    INFO     INFO:root:Setting control    arm_action_modes.py:79
+                             mode for both robots                               
+                    WARNING  WARNING:root:not sure how    task_environment.py:57
+                             _robot_shapes are used is                          
+                             used.                                              
+                    INFO     INFO:root:Evaluating _independent_env_runner.py:165
+                             weight 60000                                       
+loaded weights from /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt
+loaded weights from /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt
+                    INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 0,                                
+                             seed 0.                                            
+[04/01/26 00:21:22] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
+Finished bimanual_dual_push_buttons | Final Score: unknown
+
+[04/01/26 00:21:47] INFO     INFO:root:Finished   _independent_env_runner.py:293
+                             evaluation.                                        
+[CoppeliaSim:loadinfo]   done.

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/summary.json

@@ -0,0 +1,38 @@
+{
+  "adapter_mode": "trunk_only",
+  "task_name": "perlf_release_dual_push_buttons_smoke1",
+  "tasks": [
+    "dual_push_buttons"
+  ],
+  "task_families": [
+    "generic"
+  ],
+  "passthrough_only": true,
+  "passthrough_reason": "generic_task_family",
+  "episodes_requested": 1,
+  "episode_scores": [
+    0.0
+  ],
+  "mean_score": 0.0,
+  "final_score": null,
+  "subprocess_returncode": 0,
+  "eval_csv_path": "/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv",
+  "command": [
+    "/workspace/envs/rlbench/bin/python",
+    "/workspace/third_party/AnyBimanual/eval.py",
+    "method=PERACT_BC",
+    "framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir",
+    "framework.start_seed=0",
+    "framework.eval_type=60000",
+    "framework.eval_episodes=1",
+    "framework.eval_envs=1",
+    "framework.gpu=0",
+    "rlbench.task_name=perlf_release_dual_push_buttons_smoke1",
+    "rlbench.tasks=[dual_push_buttons]",
+    "rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
+    "rlbench.headless=True",
+    "rlbench.gripper_mode=BimanualDiscrete",
+    "rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
+    "rlbench.action_mode=BimanualMoveArmThenGripper"
+  ]
+}

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=5 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke5 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/stderr.txt

@@ -0,0 +1,20 @@
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
+  warnings.warn(msg, UserWarning)
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
+See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
+  deprecation_warning(
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
+See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
+  ret = run_job(
+Error executing job with overrides: ['method=PERACT_BC', 'framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir', 'framework.start_seed=0', 'framework.eval_type=60000', 'framework.eval_episodes=5', 'framework.eval_envs=1', 'framework.gpu=0', 'rlbench.task_name=perlf_release_dual_push_buttons_smoke5', 'rlbench.tasks=[dual_push_buttons]', 'rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root', 'rlbench.headless=True', 'rlbench.gripper_mode=BimanualDiscrete', 'rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning', 'rlbench.action_mode=BimanualMoveArmThenGripper']
+Traceback (most recent call last):
+  File "/workspace/third_party/AnyBimanual/eval.py", line 201, in main
+    raise Exception(f"Missing seed{start_seed}/config.yaml. Logdir is {logdir}")
+Exception: Missing seed0/config.yaml. Logdir is /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir/perlf_release_dual_push_buttons_smoke5/PERACT_BC/seed0
+
+Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/stdout.txt

@@ -0,0 +1,109 @@
+[2026-04-01 00:23:58,169][root][INFO] - 
+method:
+  name: PERACT_BC
+  agent_type: leader_follower
+  robot_name: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 4
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+rlbench:
+  task_name: perlf_release_dual_push_buttons_smoke5
+  tasks:
+  - dual_push_buttons
+  demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
+  episode_length: 25
+  cameras:
+  - over_shoulder_left
+  - over_shoulder_right
+  - overhead
+  - wrist_right
+  - wrist_left
+  - front
+  camera_resolution:
+  - 256
+  - 256
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  time_in_state: true
+  headless: true
+  gripper_mode: BimanualDiscrete
+  arm_action_mode: BimanualEndEffectorPoseViaPlanning
+  action_mode: BimanualMoveArmThenGripper
+framework:
+  tensorboard_logging: true
+  csv_logging: true
+  gpu: 0
+  logdir: /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir
+  start_seed: 0
+  record_every_n: 5
+  eval_envs: 1
+  eval_from_eps_number: 0
+  eval_episodes: 5
+  eval_type: 60000
+  eval_save_metrics: true
+cinematic_recorder:
+  enabled: false
+  camera_resolution:
+  - 1280
+  - 720
+  fps: 30
+  rotate_speed: 0.005
+  save_path: /tmp/videos/
+

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/summary.json

@@ -0,0 +1,36 @@
+{
+  "adapter_mode": "trunk_only",
+  "task_name": "perlf_release_dual_push_buttons_smoke5",
+  "tasks": [
+    "dual_push_buttons"
+  ],
+  "task_families": [
+    "generic"
+  ],
+  "passthrough_only": true,
+  "passthrough_reason": "generic_task_family",
+  "episodes_requested": 5,
+  "episode_scores": [],
+  "mean_score": 0.0,
+  "final_score": null,
+  "subprocess_returncode": 1,
+  "eval_csv_path": "/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir/perlf_release_dual_push_buttons_smoke5/PERACT_BC/seed0/eval_data.csv",
+  "command": [
+    "/workspace/envs/rlbench/bin/python",
+    "/workspace/third_party/AnyBimanual/eval.py",
+    "method=PERACT_BC",
+    "framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir",
+    "framework.start_seed=0",
+    "framework.eval_type=60000",
+    "framework.eval_episodes=5",
+    "framework.eval_envs=1",
+    "framework.gpu=0",
+    "rlbench.task_name=perlf_release_dual_push_buttons_smoke5",
+    "rlbench.tasks=[dual_push_buttons]",
+    "rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
+    "rlbench.headless=True",
+    "rlbench.gripper_mode=BimanualDiscrete",
+    "rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
+    "rlbench.action_mode=BimanualMoveArmThenGripper"
+  ]
+}

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/config.yaml

@@ -0,0 +1,139 @@
+ddp:
+  master_addr: localhost
+  master_port: 13985
+  num_devices: 2
+rlbench:
+  task_name: perlf+ab
+  tasks:
+  - bimanual_pick_laptop
+  - bimanual_pick_plate
+  - bimanual_straighten_rope
+  - coordinated_lift_ball
+  - coordinated_lift_tray
+  - coordinated_push_box
+  - coordinated_put_bottle_in_fridge
+  - dual_push_buttons
+  - handover_item
+  - bimanual_sweep_to_dustpan
+  - coordinated_take_tray_out_of_oven
+  - handover_item_easy
+  demos: 100
+  demo_path: /mnt/disk_1/tengbo/bimanual_data/train
+  episode_length: 25
+  cameras:
+  - over_shoulder_right
+  - wrist_right
+  - front
+  - overhead
+  - over_shoulder_left
+  - wrist_left
+  camera_resolution:
+  - 256
+  - 256
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  instructions: ''
+replay:
+  batch_size: 2
+  timesteps: 1
+  prioritisation: false
+  task_uniform: true
+  use_disk: true
+  path: /mnt/disk_2/tengbo/replay/
+  max_parallel_processes: 32
+  task_folder: multi
+framework:
+  log_freq: 1000
+  save_freq: 10000
+  train_envs: 1
+  replay_ratio: ${replay.batch_size}
+  transitions_before_train: 200
+  tensorboard_logging: true
+  csv_logging: true
+  training_iterations: 100001
+  gpu: 0
+  env_gpu: 0
+  logdir: /mnt/disk_1/tengbo/peract_bimanual/log
+  logging_level: 20
+  seeds: 1
+  start_seed: 0
+  load_existing_weights: false
+  num_weights_to_keep: 60
+  num_workers: 0
+  record_every_n: 5
+  checkpoint_name_prefix: checkpoint
+  use_wandb: true
+  wandb_project: ''
+  wandb_group: perlf+ab
+  seed: 0
+  wandb_name: perlf+ab
+  use_skill: true
+  use_pretrained: false
+  use_prefix: false
+  frozen: ''
+  anybimanual: true
+  augmentation_type: ab
+method:
+  name: PERACT_BC
+  agent_type: leader_follower
+  robot_name: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 4
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv

@@ -0,0 +1,2 @@
+step,eval_envs/return,eval_envs/length,eval_envs/total_transitions
+60000,40.0,17.6,88

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/command.txt

@@ -0,0 +1 @@
+/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=5 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke1 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/stderr.txt

@@ -0,0 +1,35 @@
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
+  warnings.warn(msg, UserWarning)
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
+See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
+  deprecation_warning(
+/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
+See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
+  ret = run_job(
+/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  from pkg_resources import parse_version
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
+  from pkg_resources import parse_version
+/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: 
+The version_base parameter is not specified.
+Please specify a compatability version level, or None.
+Will assume defaults for version 1.1
+  @hydra.main(config_name="eval", config_path="conf")
+/workspace/third_party/YARR/yarr/utils/rollout_generator.py:73: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /opt/conda/conda-bld/pytorch_1716905979055/work/torch/csrc/utils/tensor_new.cpp:274.)
+  prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}
+[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/stdout.txt

@@ -0,0 +1,167 @@
+[2026-04-01 00:39:26,439][root][INFO] - 
+method:
+  name: PERACT_BC
+  agent_type: leader_follower
+  robot_name: bimanual
+  image_crop_size: 64
+  bounds_offset:
+  - 0.15
+  voxel_sizes:
+  - 100
+  include_prev_layer: false
+  num_latents: 2048
+  latent_dim: 512
+  transformer_depth: 6
+  transformer_iterations: 1
+  cross_heads: 1
+  cross_dim_head: 64
+  latent_heads: 8
+  latent_dim_head: 64
+  pos_encoding_with_lang: true
+  conv_downsample: true
+  lang_fusion_type: seq
+  voxel_patch_size: 5
+  voxel_patch_stride: 5
+  final_dim: 64
+  low_dim_size: 4
+  input_dropout: 0.1
+  attn_dropout: 0.1
+  decoder_dropout: 0.0
+  lr: 0.0005
+  lr_scheduler: false
+  num_warmup_steps: 3000
+  optimizer: lamb
+  lambda_weight_l2: 1.0e-06
+  trans_loss_weight: 1.0
+  rot_loss_weight: 1.0
+  grip_loss_weight: 1.0
+  collision_loss_weight: 1.0
+  rotation_resolution: 5
+  activation: lrelu
+  norm: None
+  crop_augmentation: true
+  transform_augmentation:
+    apply_se3: true
+    aug_xyz:
+    - 0.125
+    - 0.125
+    - 0.125
+    aug_rpy:
+    - 0.0
+    - 0.0
+    - 45.0
+    aug_rot_resolution: ${method.rotation_resolution}
+  demo_augmentation: true
+  demo_augmentation_every_n: 10
+  no_skip_connection: false
+  no_perceiver: false
+  no_language: false
+  keypoint_method: heuristic
+rlbench:
+  task_name: perlf_release_dual_push_buttons_smoke1
+  tasks:
+  - dual_push_buttons
+  demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
+  episode_length: 25
+  cameras:
+  - over_shoulder_left
+  - over_shoulder_right
+  - overhead
+  - wrist_right
+  - wrist_left
+  - front
+  camera_resolution:
+  - 256
+  - 256
+  scene_bounds:
+  - -0.3
+  - -0.5
+  - 0.6
+  - 0.7
+  - 0.5
+  - 1.6
+  include_lang_goal_in_obs: true
+  time_in_state: true
+  headless: true
+  gripper_mode: BimanualDiscrete
+  arm_action_mode: BimanualEndEffectorPoseViaPlanning
+  action_mode: BimanualMoveArmThenGripper
+framework:
+  tensorboard_logging: true
+  csv_logging: true
+  gpu: 0
+  logdir: /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir
+  start_seed: 0
+  record_every_n: 5
+  eval_envs: 1
+  eval_from_eps_number: 0
+  eval_episodes: 5
+  eval_type: 60000
+  eval_save_metrics: true
+cinematic_recorder:
+  enabled: false
+  camera_resolution:
+  - 1280
+  - 720
+  fps: 30
+  rotate_speed: 0.005
+  save_path: /tmp/videos/
+
+[2026-04-01 00:39:26,448][root][INFO] - Using env device cuda:0.
+[2026-04-01 00:39:26,450][root][INFO] - Evaluating seed 0.
+[2026-04-01 00:39:26,450][root][INFO] - Using method PERACT_BC with type leader_follower
+Weight: [60000]
+[04/01/26 00:39:48] INFO     INFO:root:eval_env:  _independent_env_runner.py:131
+                             Launching env.                                     
+                    INFO     INFO:root:Agent      _independent_env_runner.py:134
+                             information:                                       
+                    INFO     INFO:root:<yarr.agen _independent_env_runner.py:135
+                             ts.agent.LeaderFollo                               
+                             werAgent object at                                 
+                             0x794220da7970>                                    
+[04/01/26 00:39:49] INFO     INFO:root:Using dual panda robot environment.py:117
+                    INFO     INFO:root:Setting control    arm_action_modes.py:79
+                             mode for both robots                               
+                    WARNING  WARNING:root:not sure how    task_environment.py:57
+                             _robot_shapes are used is                          
+                             used.                                              
+                    INFO     INFO:root:Evaluating _independent_env_runner.py:165
+                             weight 60000                                       
+loaded weights from /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt
+loaded weights from /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt
+                    INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 0,                                
+                             seed 0.                                            
+[04/01/26 00:40:19] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
+[04/01/26 00:40:44] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 1,                                
+                             seed 1.                                            
+[04/01/26 00:41:21] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 1 | Score: 100.0 | Lang Goal: push the black and the violet buttons
+[04/01/26 00:41:29] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 2,                                
+                             seed 2.                                            
+[04/01/26 00:42:02] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 2 | Score: 100.0 | Lang Goal: push the violet and the blue buttons
+[04/01/26 00:42:10] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 3,                                
+                             seed 3.                                            
+[04/01/26 00:42:41] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 3 | Score: 0.0 | Lang Goal: push the green and the violet buttons
+[04/01/26 00:43:02] INFO     INFO:root:eval_env:  _independent_env_runner.py:192
+                             Starting episode 4,                                
+                             seed 4.                                            
+[04/01/26 00:43:40] INFO     INFO:root:total waypoints 4, (right=2,  task.py:368
+                             left=2)                                            
+Evaluating bimanual_dual_push_buttons | Episode 4 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
+Finished bimanual_dual_push_buttons | Final Score: 40.0
+
+moviepy is installed, but can't import moviepy.editor. Some packages could be missing [imageio, requests]
+[04/01/26 00:44:10] INFO     INFO:root:Finished   _independent_env_runner.py:293
+                             evaluation.                                        
+[CoppeliaSim:loadinfo]   done.

artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/summary.json

@@ -0,0 +1,42 @@
+{
+  "adapter_mode": "trunk_only",
+  "task_name": "perlf_release_dual_push_buttons_smoke1",
+  "tasks": [
+    "dual_push_buttons"
+  ],
+  "task_families": [
+    "generic"
+  ],
+  "passthrough_only": true,
+  "passthrough_reason": "generic_task_family",
+  "episodes_requested": 5,
+  "episode_scores": [
+    0.0,
+    100.0,
+    100.0,
+    0.0,
+    0.0
+  ],
+  "mean_score": 40.0,
+  "final_score": 40.0,
+  "subprocess_returncode": 0,
+  "eval_csv_path": "/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv",
+  "command": [
+    "/workspace/envs/rlbench/bin/python",
+    "/workspace/third_party/AnyBimanual/eval.py",
+    "method=PERACT_BC",
+    "framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir",
+    "framework.start_seed=0",
+    "framework.eval_type=60000",
+    "framework.eval_episodes=5",
+    "framework.eval_envs=1",
+    "framework.gpu=0",
+    "rlbench.task_name=perlf_release_dual_push_buttons_smoke1",
+    "rlbench.tasks=[dual_push_buttons]",
+    "rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
+    "rlbench.headless=True",
+    "rlbench.gripper_mode=BimanualDiscrete",
+    "rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
+    "rlbench.action_mode=BimanualMoveArmThenGripper"
+  ]
+}

artifacts/reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.json

@@ -0,0 +1,29 @@
+{
+  "checkpoint": "/workspace/workspace/VLAarchtests2/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": 5,
+  "episode_length": 60,
+  "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
+}

artifacts/reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.md

@@ -0,0 +1,14 @@
+# RLBench Rollout Eval
+
+- Checkpoint: `/workspace/workspace/VLAarchtests2/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

artifacts/reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.partial.json

@@ -0,0 +1,29 @@
+{
+  "checkpoint": "/workspace/workspace/VLAarchtests2/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": 5,
+  "episode_length": 60,
+  "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
+}

artifacts/reports/peract2_anchor_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

artifacts/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

artifacts/reports/peract2_anchor_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.

artifacts/reports/peract2_anchor_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

artifacts/reports/peract2_anchor_smoke_live/bimanual_handover_item/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

artifacts/reports/peract2_anchor_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.

artifacts/reports/peract2_anchor_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

artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

artifacts/reports/peract2_anchor_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.

artifacts/reports/peract2_anchor_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

artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stderr.txt

@@ -0,0 +1 @@
+WARNING:root:not sure how _robot_shapes are used is used.

artifacts/reports/peract2_anchor_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.

artifacts/reports/peract2_anchor_smoke_live/launch_smoke_summary.json

@@ -0,0 +1,205 @@
+{
+  "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_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_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
+      ]
+    }
+  },
+  "task_count": 5,
+  "launch_successes": 5,
+  "finite_action_tasks": 5,
+  "error_tasks": []
+}

artifacts/reports/peract2_anchor_smoke_live/launch_smoke_summary.md

@@ -0,0 +1,16 @@
+# PerAct2 13-Task Launch Smoke
+
+- Resolution: `224`
+- Headless: `True`
+- Task count: `5`
+- Launch successes: `5`
+- Finite-action tasks: `5`
+- 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_handover_item`: launch_ok=True, action_finite=True, task_class=BimanualHandoverItem, reward=0.0
+- `bimanual_lift_tray`: launch_ok=True, action_finite=True, task_class=BimanualLiftTray, reward=0.0

artifacts/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.md

@@ -0,0 +1,17 @@
+# Reveal Proxy Benchmark
+
+## adapter
+- controller: model
+- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt
+- episodes: 24.000
+- mean_success: 0.000
+- visibility_integral: 0.159
+- corridor_availability: 0.002
+- reocclusion_rate: 0.002
+- disturbance_cost: 0.686
+- premature_retrieve_rate: 0.798
+- reocclusion_after_reveal_rate: 0.000
+- planner_regret: 0.002
+- foliage_success: 0.000
+- bag_success: 0.000
+- cloth_success: 0.000

artifacts/reports/proxy_base_aligned_fast_eval/noop/reveal_benchmark.md

@@ -0,0 +1,17 @@
+# Reveal Proxy Benchmark
+
+## adapter
+- controller: model
+- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt
+- episodes: 24.000
+- mean_success: 0.000
+- visibility_integral: 0.160
+- corridor_availability: 0.002
+- reocclusion_rate: 0.002
+- disturbance_cost: 0.676
+- premature_retrieve_rate: 0.835
+- reocclusion_after_reveal_rate: 0.000
+- planner_regret: 0.046
+- foliage_success: 0.000
+- bag_success: 0.000
+- cloth_success: 0.000

artifacts/reports/proxy_base_aligned_fast_eval/oracle/reveal_benchmark.md

@@ -0,0 +1,17 @@
+# Reveal Proxy Benchmark
+
+## adapter
+- controller: oracle
+- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt
+- episodes: 24.000
+- mean_success: 0.000
+- visibility_integral: 10.234
+- corridor_availability: 0.173
+- reocclusion_rate: 0.008
+- disturbance_cost: 0.655
+- premature_retrieve_rate: 0.811
+- reocclusion_after_reveal_rate: 0.250
+- planner_regret: 0.000
+- foliage_success: 0.000
+- bag_success: 0.000
+- cloth_success: 0.000