diff --git a/artifacts/reports/anchor_dual_push_smoke/original_trunk/rollout_eval.partial.json b/artifacts/reports/anchor_dual_push_smoke/original_trunk/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..a53f0ef523c39c924baef1c617e52e07254c1d5f --- /dev/null +++ b/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 +} \ No newline at end of file diff --git a/artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/command.txt b/artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..bae18a03f5953a9c25d84ed3a1a8793202805d95 --- /dev/null +++ b/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 diff --git a/artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stderr.txt b/artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2d8fd8ab547c2db97972072750748d8f112763f0 --- /dev/null +++ b/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] diff --git a/artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stdout.txt b/artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..7f8ba16c76dbd6979fd3bee21f62ef0ee176dc2a --- /dev/null +++ b/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: +[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. diff --git a/artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/summary.json b/artifacts/reports/anybimanual_anchor_bridge/adapter_noop_ep5/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..eaf2635a8425fd855c09be3b1f25e17bd1ad2e08 --- /dev/null +++ b/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" + ] +} diff --git a/artifacts/reports/anybimanual_anchor_bridge/trunk_only_ep25/stderr.txt b/artifacts/reports/anybimanual_anchor_bridge/trunk_only_ep25/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..ec5cb0ba495f915e85a324e6b17a7b226513296e --- /dev/null +++ b/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] diff --git a/artifacts/reports/anybimanual_anchor_bridge/trunk_only_ep5/command.txt b/artifacts/reports/anybimanual_anchor_bridge/trunk_only_ep5/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..bae18a03f5953a9c25d84ed3a1a8793202805d95 --- /dev/null +++ b/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 diff --git a/artifacts/reports/anybimanual_anchor_bridge/trunk_only_ep5/stdout.txt b/artifacts/reports/anybimanual_anchor_bridge/trunk_only_ep5/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..52623b569997e8fe54b1a2793dda23933119bced --- /dev/null +++ b/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: +[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. diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/command.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..02d4853c135616bce4ffb16f7a5818979422df15 --- /dev/null +++ b/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 diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/stderr.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..8a12982882ddc6d59749e7c0626f997244f75757 --- /dev/null +++ b/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. diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/stdout.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..07c7cdea54e466633cb1c3d0b7bda26d5f14cfcf --- /dev/null +++ b/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/ + diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/summary.json b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..1e8a5e48fbbd6e70b2e11a9cf6700e720d336a11 --- /dev/null +++ b/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" + ] +} diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/config.yaml b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56a6d90c6ccab7e6c1acce209b6cef4018945af1 --- /dev/null +++ b/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 diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/command.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..e141109098b4ee31a92467174c6df7acb5dfb11d --- /dev/null +++ b/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 diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/stderr.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2d8fd8ab547c2db97972072750748d8f112763f0 --- /dev/null +++ b/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] diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/stdout.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..262ca7ff3f73f745ffe67287e10ed69763d50004 --- /dev/null +++ b/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: +[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. diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/summary.json b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..eac201fb2ed65a5bab5f56594eb0079bd74e3d05 --- /dev/null +++ b/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" + ] +} diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/command.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..b1315a57a9583d55394c9b76387b981b4f768d53 --- /dev/null +++ b/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 diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/stderr.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..4aefbc67267d81dee5fed28279365bd75ac81d47 --- /dev/null +++ b/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. diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/stdout.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..a303673da1237ca2a84208562c7cbcaf64eb2c85 --- /dev/null +++ b/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/ + diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/summary.json b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..af8320eebee86cbd12c3385b28260f5442bcc06d --- /dev/null +++ b/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" + ] +} diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/config.yaml b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56a6d90c6ccab7e6c1acce209b6cef4018945af1 --- /dev/null +++ b/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 diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv new file mode 100644 index 0000000000000000000000000000000000000000..2c74c8201fc589e44d5b82efba38c4bd104b17b6 --- /dev/null +++ b/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 diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/command.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..4140b97a5d845eabb9f1292d7ae4255d1aedcd5a --- /dev/null +++ b/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 diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/stderr.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2d8fd8ab547c2db97972072750748d8f112763f0 --- /dev/null +++ b/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] diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/stdout.txt b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..f521500367cb6d0da7e540e096ff72e9caf6b5ad --- /dev/null +++ b/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: +[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. diff --git a/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/summary.json b/artifacts/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..31d6169b508ea442d1a7e3a47116c2f9342afd3f --- /dev/null +++ b/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" + ] +} diff --git a/artifacts/reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.json b/artifacts/reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..96606c3e9af8d8b4e41a926fd028f4c0cd57b075 --- /dev/null +++ b/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 +} \ No newline at end of file diff --git a/artifacts/reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.md b/artifacts/reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..f3b369ad14f9a8f1d695ffd834c2ee7d4e861a2f --- /dev/null +++ b/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 diff --git a/artifacts/reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.partial.json b/artifacts/reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..96606c3e9af8d8b4e41a926fd028f4c0cd57b075 --- /dev/null +++ b/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 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/command.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..a728c113c22d156317a29d76f521b5703da9183b --- /dev/null +++ b/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 diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stderr.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/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. diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stdout.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..28d44fe0ebbaf50c6997a93240788ec4e4cc04a4 --- /dev/null +++ b/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. diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_handover_item/command.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_handover_item/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..a1097997bedab5fd569f3ea63eb7fe1444a8c37e --- /dev/null +++ b/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 diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_handover_item/stderr.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_handover_item/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/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. diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_handover_item/stdout.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_handover_item/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..13d371011df9418bee1a5f1b94d2654572894907 --- /dev/null +++ b/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. diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_ball/command.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b469763faaf25b322b37dd0b6b3fa788a4c6fa9 --- /dev/null +++ b/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 diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stderr.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/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. diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stdout.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..6339602138f0992a15c39e7904e293bdfe1bdd62 --- /dev/null +++ b/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. diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_tray/command.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_tray/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..2de31091a7209f2ce30537210dc184e5ca7052e6 --- /dev/null +++ b/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 diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stderr.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/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. diff --git a/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stdout.txt b/artifacts/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..416e0e36b8378f5691255806da0037b4eb822738 --- /dev/null +++ b/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. diff --git a/artifacts/reports/peract2_anchor_smoke_live/launch_smoke_summary.json b/artifacts/reports/peract2_anchor_smoke_live/launch_smoke_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..72054364e0aad76976d2b4a7f8fc419fa0713628 --- /dev/null +++ b/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": [] +} \ No newline at end of file diff --git a/artifacts/reports/peract2_anchor_smoke_live/launch_smoke_summary.md b/artifacts/reports/peract2_anchor_smoke_live/launch_smoke_summary.md new file mode 100644 index 0000000000000000000000000000000000000000..f4e2debf6d318289dc5aabd79d2cc349f199f85e --- /dev/null +++ b/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 diff --git a/artifacts/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.json b/artifacts/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..85f7aef36c6b02c06410b002485a7dd615696eb2 --- /dev/null +++ b/artifacts/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "one_sided_slip": 0.0 + }, + "cloth": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "fold_sensitive_long_persistence": 0.0 + } + }, + "visibility_integral": 0.15862687141634524, + "corridor_availability": 0.0015432098880410194, + "reocclusion_rate": 0.0015625000000000003, + "disturbance_cost": 0.6857880518323441, + "premature_retrieve_rate": 0.7984375, + "reocclusion_after_reveal_rate": 0.0, + "planner_regret": 0.0015697095737171672, + "task_specific_metrics": { + "gap_width": 0.017008181086917925, + "damage_proxy": 0.6857880518323441, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.054931383087294026, + "hold_persistence": 0.7005235039407625, + "rim_slip_rate": 0.9995488485317736, + "insertable_corridor": 0.125, + "fold_preservation": 0.13700020880260375, + "layer_separation_quality": 0.050609049363652785, + "top_layer_stability": 0.7005235039407625, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 0, + "episode_index": 0, + "controller": "model", + "resolved_task_name": "foliage", + "success": 0.0, + "visibility_integral": 0.2919131815433502, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.8295077347770856, + "premature_retrieve_rate": 0.825, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.0016083836555480957, + "gap_width": 0.061429664396571916, + "damage_proxy": 0.8295077347770856, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.6755392747688858, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.6755392747688858, + "lift_too_high_rate": 0.0, + "step_trace": [ + { + "step_index": 1, + "visibility": 0.06428255019165229, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.09683964234302309, + "chosen_candidate_family": "sweep_left", + "chosen_candidate_index": 1, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 2, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.12692498723989315, + "chosen_candidate_family": "sweep_left", + "chosen_candidate_index": 1, + "task_name": "foliage", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 3, + "visibility": 0.0, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.15702299966701203, + "chosen_candidate_family": 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"chosen_candidate_family": "lift_edge", + "chosen_candidate_index": 1, + "task_name": "cloth", + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard" + } + ], + "chosen_candidate_families": [ + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.08, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.18, + "corridor_scale": 1.0, + "support_stability_penalty": 0.12, + "collateral_bias": 0.12 + } + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.md b/artifacts/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..a2c3536473a541d2e30d9a29b7f2f832e66563f2 --- /dev/null +++ b/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 diff --git a/artifacts/reports/proxy_base_aligned_fast_eval/noop/reveal_benchmark.json b/artifacts/reports/proxy_base_aligned_fast_eval/noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b911dc8d961d6bfeb3f88ac07bc1e19b0eea49 --- /dev/null +++ b/artifacts/reports/proxy_base_aligned_fast_eval/noop/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "one_sided_slip": 0.0 + }, + "cloth": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "fold_sensitive_long_persistence": 0.0 + } + }, + "visibility_integral": 0.159542116879796, + "corridor_availability": 0.0015432098880410194, + "reocclusion_rate": 0.0015625000000000003, + "disturbance_cost": 0.6762562873351642, + "premature_retrieve_rate": 0.8354166666666667, + "reocclusion_after_reveal_rate": 0.0, + "planner_regret": 0.046383516304194926, + "task_specific_metrics": { + "gap_width": 0.017008181086917925, + "damage_proxy": 0.6762562873351642, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.054931383087294026, + "hold_persistence": 0.7046628014728634, + "rim_slip_rate": 0.9995488485317736, + "insertable_corridor": 0.125, + "fold_preservation": 0.15216657719233614, + "layer_separation_quality": 0.050609049363652785, + "top_layer_stability": 0.7046628014728634, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 0, + "episode_index": 0, + "controller": "model", + "resolved_task_name": "foliage", + "success": 0.0, + "visibility_integral": 0.2932679355144501, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.8259846541700684, + "premature_retrieve_rate": 0.85, + 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"disturbance_cost": 0.9471956973001494, + "chosen_candidate_family": "model", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.9567042302410245, + "chosen_candidate_family": "model", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard" + } + ], + "chosen_candidate_families": [ + "model", + "model", + "model", + "model", + "model", + "model", + "model", + "model", + "model", + "model" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.08, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.18, + "corridor_scale": 1.0, + "support_stability_penalty": 0.12, + "collateral_bias": 0.12 + } + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/proxy_base_aligned_fast_eval/noop/reveal_benchmark.md b/artifacts/reports/proxy_base_aligned_fast_eval/noop/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..1cd5b1aa03b47020fbecb89924aef8c887495c6a --- /dev/null +++ b/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 diff --git a/artifacts/reports/proxy_base_aligned_fast_eval/oracle/reveal_benchmark.json b/artifacts/reports/proxy_base_aligned_fast_eval/oracle/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..eef37796a117a5883b1a0571a27ab827824fdb00 --- /dev/null +++ b/artifacts/reports/proxy_base_aligned_fast_eval/oracle/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "oracle", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "one_sided_slip": 0.0 + }, + "cloth": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "fold_sensitive_long_persistence": 0.0 + } + }, + "visibility_integral": 10.23419037119796, + "corridor_availability": 0.17283950808147588, + "reocclusion_rate": 0.008333333333333333, + "disturbance_cost": 0.6548463541958326, + "premature_retrieve_rate": 0.8114583333333333, + "reocclusion_after_reveal_rate": 0.25, + "planner_regret": 0.0, + "task_specific_metrics": { + "gap_width": 0.01716311136557323, + "damage_proxy": 0.6548463541958326, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.054931383087294026, + "hold_persistence": 0.7084947953011719, + "rim_slip_rate": 0.856670469799437, + "insertable_corridor": 0.25, + "fold_preservation": 0.1508633801965936, + "layer_separation_quality": 0.22605672101001942, + "top_layer_stability": 0.7084947953011719, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + 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b/artifacts/reports/proxy_base_aligned_fast_eval/oracle/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..74c33ce458803adb518ba3dbf1fb0b3bbdb2ab3d --- /dev/null +++ b/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 diff --git a/artifacts/reports/proxy_base_reuse128_smoke/scripted/reveal_benchmark.json b/artifacts/reports/proxy_base_reuse128_smoke/scripted/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..b1d9e6395afc04200817957e1f8f1e555bb6b293 --- /dev/null +++ b/artifacts/reports/proxy_base_reuse128_smoke/scripted/reveal_benchmark.json @@ -0,0 +1,6025 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "scripted", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 72, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "scripted": { + "per_task_success": { + "foliage": 1.0, + "bag": 1.0, + "cloth": 1.0 + }, + "mean_success": 1.0, + "per_stress_success": { + "nominal": 1.0 + }, + "per_difficulty_success": { + "medium": 1.0 + }, + "task_stress_success": { 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"stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard" + } + ], + "chosen_candidate_families": [ + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.08, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.18, + "corridor_scale": 1.0, + "support_stability_penalty": 0.12, + "collateral_bias": 0.12 + } + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/proxy_rank_aligned_fast_eval/active/reveal_benchmark.md b/artifacts/reports/proxy_rank_aligned_fast_eval/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..de656dff595abb2bf95fab57278b3fffb454c37e --- /dev/null +++ b/artifacts/reports/proxy_rank_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_rank_only_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: 0.678 +- premature_retrieve_rate: 0.827 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.001 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/artifacts/reports/proxy_rank_aligned_fast_eval/noop/reveal_benchmark.json b/artifacts/reports/proxy_rank_aligned_fast_eval/noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..bbdbd91366e4ea0873a3c3fd637b1807262511d1 --- /dev/null +++ b/artifacts/reports/proxy_rank_aligned_fast_eval/noop/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "one_sided_slip": 0.0 + }, + "cloth": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "fold_sensitive_long_persistence": 0.0 + } + }, + "visibility_integral": 0.159542116879796, + "corridor_availability": 0.0015432098880410194, + "reocclusion_rate": 0.0015625000000000003, + "disturbance_cost": 0.6762562873351642, + "premature_retrieve_rate": 0.8354166666666667, + "reocclusion_after_reveal_rate": 0.0, + "planner_regret": 0.046383516304194926, + "task_specific_metrics": { + "gap_width": 0.017008181086917925, + "damage_proxy": 0.6762562873351642, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.054931383087294026, + "hold_persistence": 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a/artifacts/reports/proxy_rank_aligned_fast_eval/noop/reveal_benchmark.md b/artifacts/reports/proxy_rank_aligned_fast_eval/noop/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..2f43d2bfc2e23e1851102195b1087a15b93b2a20 --- /dev/null +++ b/artifacts/reports/proxy_rank_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_rank_only_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 diff --git a/artifacts/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.json b/artifacts/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..15a118204888b7c685d204b51e3c2a24c9f846d7 --- /dev/null +++ b/artifacts/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "oracle", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "one_sided_slip": 0.0 + }, + "cloth": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "fold_sensitive_long_persistence": 0.0 + } + }, + "visibility_integral": 10.23419037119796, + "corridor_availability": 0.17283950808147588, + "reocclusion_rate": 0.008333333333333333, + "disturbance_cost": 0.6548463541958326, + "premature_retrieve_rate": 0.8114583333333333, + "reocclusion_after_reveal_rate": 0.25, + "planner_regret": 0.0, + "task_specific_metrics": { + "gap_width": 0.01716311136557323, + "damage_proxy": 0.6548463541958326, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.054931383087294026, + "hold_persistence": 0.7084947953011719, + "rim_slip_rate": 0.856670469799437, + "insertable_corridor": 0.25, + "fold_preservation": 0.1508633801965936, + "layer_separation_quality": 0.22605672101001942, + "top_layer_stability": 0.7084947953011719, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 0, + "episode_index": 0, + "controller": "oracle", + "resolved_task_name": "foliage", + "success": 0.0, + "visibility_integral": 0.2276306301355362, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 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"cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.08, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.18, + "corridor_scale": 1.0, + "support_stability_penalty": 0.12, + "collateral_bias": 0.12 + } + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.md b/artifacts/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..8040ed2b7e177b48cd729655ff6d2a7eea9d5cb6 --- /dev/null +++ b/artifacts/reports/proxy_rank_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_rank_only_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 diff --git a/artifacts/reports/proxy_semantic_heuristic_quick12/candidate0/reveal_benchmark.json b/artifacts/reports/proxy_semantic_heuristic_quick12/candidate0/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..b634ce3b78d6ead6736beaf78df0684b40258ba6 --- /dev/null +++ b/artifacts/reports/proxy_semantic_heuristic_quick12/candidate0/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "candidate0", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 2.2607915798823037, + "corridor_availability": 0.02674897077182929, + "reocclusion_rate": 0.016666666666666666, + "disturbance_cost": 0.7470283818855998, + "premature_retrieve_rate": 0.3666666666666667, + "reocclusion_after_reveal_rate": 0.16666666666666666, + "planner_regret": 0.01945494548417628, + "task_specific_metrics": { + "gap_width": 0.02862292342076736, + "damage_proxy": 0.7470283818855998, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.10902958872862197, + "hold_persistence": 0.6900442885666663, + "rim_slip_rate": 0.9779464956123148, + "insertable_corridor": 0.5833333333333334, + "fold_preservation": 0.005771209769449855, + "layer_separation_quality": 0.1099266638553769, + "top_layer_stability": 0.6900442885666663, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 0, + "episode_index": 0, + "controller": "candidate0", + "resolved_task_name": "foliage", + 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"disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.006136262621065425, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "stabilize_fold", + "stabilize_fold", + "stabilize_fold", + "stabilize_fold", + "stabilize_fold", + "stabilize_fold", + "stabilize_fold", + "stabilize_fold", + "stabilize_fold" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/proxy_semantic_nowm_quick12/active/reveal_benchmark.md b/artifacts/reports/proxy_semantic_nowm_quick12/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..001a180598ea79de99bcf0068751f401ce409a34 --- /dev/null +++ b/artifacts/reports/proxy_semantic_nowm_quick12/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_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 21.451 +- corridor_availability: 0.331 +- reocclusion_rate: 0.001 +- disturbance_cost: 0.381 +- premature_retrieve_rate: 0.000 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.230 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/artifacts/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.json b/artifacts/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..b634ce3b78d6ead6736beaf78df0684b40258ba6 --- /dev/null +++ b/artifacts/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "candidate0", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 2.2607915798823037, + "corridor_availability": 0.02674897077182929, + "reocclusion_rate": 0.016666666666666666, + "disturbance_cost": 0.7470283818855998, + "premature_retrieve_rate": 0.3666666666666667, + "reocclusion_after_reveal_rate": 0.16666666666666666, + "planner_regret": 0.01945494548417628, + "task_specific_metrics": { + "gap_width": 0.02862292342076736, + "damage_proxy": 0.7470283818855998, + "actor_feasibility_floor": 0.0, + 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"chosen_candidate_family": "candidate0", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.9857867223887704, + "chosen_candidate_family": "candidate0", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "candidate0", + "candidate0", + "candidate0", + "candidate0", + "candidate0", + "candidate0", + "candidate0", + "candidate0", + "candidate0", + "candidate0" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.md b/artifacts/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..d24e35422aac4de03ad7ef62ba88d79ab51c6471 --- /dev/null +++ b/artifacts/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: candidate0 +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 2.261 +- corridor_availability: 0.027 +- reocclusion_rate: 0.017 +- disturbance_cost: 0.747 +- premature_retrieve_rate: 0.367 +- reocclusion_after_reveal_rate: 0.167 +- planner_regret: 0.019 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/artifacts/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.json b/artifacts/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..f9899b97f06b36b2a794ce5ca4bbfdc88653ac68 --- /dev/null +++ b/artifacts/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 2.2607915798823037, + "corridor_availability": 0.02674897077182929, + "reocclusion_rate": 0.016666666666666666, + "disturbance_cost": 0.7470283818855998, + "premature_retrieve_rate": 0.3666666666666667, + "reocclusion_after_reveal_rate": 0.16666666666666666, + "planner_regret": 0.01945494548417628, + "task_specific_metrics": { + "gap_width": 0.02862292342076736, + "damage_proxy": 0.7470283818855998, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.10902958872862197, + "hold_persistence": 0.6900442885666663, + "rim_slip_rate": 0.9779464956123148, + "insertable_corridor": 0.5833333333333334, + "fold_preservation": 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file diff --git a/artifacts/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.md b/artifacts/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..cbb8e00d15056ed38e752b7d656eadb098eea467 --- /dev/null +++ b/artifacts/reports/proxy_semantic_nowm_quick12/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_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 2.261 +- corridor_availability: 0.027 +- reocclusion_rate: 0.017 +- disturbance_cost: 0.747 +- premature_retrieve_rate: 0.367 +- reocclusion_after_reveal_rate: 0.167 +- planner_regret: 0.019 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/artifacts/reports/proxy_semantic_nowm_quick12/oracle/reveal_benchmark.json b/artifacts/reports/proxy_semantic_nowm_quick12/oracle/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..3bb83d087748ce6a8b28bc87b4466e2b406ec835 --- /dev/null +++ b/artifacts/reports/proxy_semantic_nowm_quick12/oracle/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "oracle", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + 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b/artifacts/reports/proxy_semantic_nowm_quick12/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_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 3.338 +- corridor_availability: 0.062 +- reocclusion_rate: 0.018 +- disturbance_cost: 0.707 +- premature_retrieve_rate: 0.575 +- reocclusion_after_reveal_rate: 0.083 +- planner_regret: 0.000 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/artifacts/reports/proxy_semantic_nowm_quick12_final_noop/reveal_benchmark.json b/artifacts/reports/proxy_semantic_nowm_quick12_final_noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..7a0a836c768b486a7729415a003d456d8366f16e --- /dev/null +++ b/artifacts/reports/proxy_semantic_nowm_quick12_final_noop/reveal_benchmark.json @@ -0,0 +1,39665 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 36, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "noop": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 2.274976045721107, + "corridor_availability": 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"chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.012513469262718138, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.0, + "chosen_candidate_family": "stabilize_fold", + "chosen_candidate_index": 3, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "stabilize_fold", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "retrieve", + "stabilize_fold" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/proxy_semantic_nowm_quick12_rerun/reveal_benchmark.md b/artifacts/reports/proxy_semantic_nowm_quick12_rerun/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..8e19361033776848ac3d64c83200eb6e0f23f8e9 --- /dev/null +++ b/artifacts/reports/proxy_semantic_nowm_quick12_rerun/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## patched +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 36.000 +- mean_success: 0.222 +- visibility_integral: 10.312 +- corridor_availability: 0.303 +- reocclusion_rate: 0.001 +- disturbance_cost: 0.147 +- premature_retrieve_rate: 0.649 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.224 +- foliage_success: 0.667 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/artifacts/reports/proxy_transition_fast_eval/active/reveal_benchmark.json b/artifacts/reports/proxy_transition_fast_eval/active/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..5defd2bd632b385ddd677bcc8747b4eefa672eb2 --- /dev/null +++ b/artifacts/reports/proxy_transition_fast_eval/active/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "one_sided_slip": 0.0 + }, + "cloth": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "fold_sensitive_long_persistence": 0.0 + } + }, + "visibility_integral": 0.15848870722887418, + "corridor_availability": 0.0015432098880410194, + "reocclusion_rate": 0.0015625000000000003, + "disturbance_cost": 0.6893061758801274, + 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"lift_edge", + "lift_edge", + "lift_edge", + "lift_edge" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.08, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.18, + "corridor_scale": 1.0, + "support_stability_penalty": 0.12, + "collateral_bias": 0.12 + } + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/proxy_transition_fast_eval/active/reveal_benchmark.md b/artifacts/reports/proxy_transition_fast_eval/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..c1268c466cfaf4f12d496b396300c3a6c0102bdd --- /dev/null +++ b/artifacts/reports/proxy_transition_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_transition_fast_seed17/checkpoint_best.pt +- episodes: 24.000 +- mean_success: 0.000 +- visibility_integral: 0.158 +- corridor_availability: 0.002 +- reocclusion_rate: 0.002 +- disturbance_cost: 0.689 +- premature_retrieve_rate: 0.820 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.001 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/artifacts/reports/proxy_transition_fast_eval/noop/reveal_benchmark.json b/artifacts/reports/proxy_transition_fast_eval/noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..f817a9a925499640064d9118fcf3ac03b4fe7edf --- /dev/null +++ b/artifacts/reports/proxy_transition_fast_eval/noop/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + 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a/artifacts/reports/proxy_transition_fast_eval/noop/reveal_benchmark.md b/artifacts/reports/proxy_transition_fast_eval/noop/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..7e8d8d27208e135b51ae95d9f79750190acd0279 --- /dev/null +++ b/artifacts/reports/proxy_transition_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_transition_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 diff --git a/artifacts/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.json b/artifacts/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..61ba34f05a66de514618314239df6aad027722ae --- /dev/null +++ b/artifacts/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.json @@ -0,0 +1,280 @@ +{ + "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": 1, + "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 + ], 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