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- outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/summary.json +0 -0
- outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/config_resolved.yaml +174 -0
- outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/summary.json +0 -0
- outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/config_resolved.yaml +170 -0
- outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/metrics.json +71 -0
- outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_rebuild128_seed17/metrics.json +278 -0
- outputs/adapter_proxy/proxy_adapter_wrapped_clip_transition_fast_seed17/config_resolved.yaml +174 -0
- outputs/adapter_proxy/proxy_adapter_wrapped_clip_transition_fast_seed17/metrics.json +140 -0
- outputs/adapter_proxy/proxy_adapter_wrapped_clip_transition_fast_seed17/summary.json +0 -0
- reports/anchor_dual_push_smoke_ep1/original_trunk/rollout_eval.json +280 -0
- reports/anybimanual_anchor_bridge/adapter_noop_ep5/command.txt +1 -0
- reports/anybimanual_anchor_bridge/adapter_noop_ep5/stderr.txt +35 -0
- reports/anybimanual_anchor_bridge/adapter_noop_ep5/stdout.txt +167 -0
- reports/anybimanual_anchor_bridge/adapter_noop_ep5/summary.json +41 -0
- reports/anybimanual_anchor_bridge/trunk_only_ep25/command.txt +1 -0
- reports/anybimanual_anchor_bridge/trunk_only_ep25/stderr.txt +36 -0
- reports/anybimanual_anchor_bridge/trunk_only_ep25/stdout.txt +121 -0
- reports/anybimanual_anchor_bridge/trunk_only_ep25/summary.json +35 -0
- reports/anybimanual_anchor_bridge/trunk_only_ep5/command.txt +1 -0
- reports/anybimanual_anchor_bridge/trunk_only_ep5/stderr.txt +35 -0
- reports/anybimanual_anchor_bridge/trunk_only_ep5/stdout.txt +167 -0
- reports/anybimanual_anchor_bridge/trunk_only_ep5/summary.json +41 -0
- reports/maniskill_bag_bridge_eval_less_bonus_seed17/adapter_active_ft_seed17.json +509 -0
- reports/maniskill_bag_bridge_eval_less_bonus_seed17/adapter_noop_seed17.json +488 -0
- reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.json +62 -0
- reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.md +15 -0
- reports/maniskill_bag_bridge_eval_less_bonus_seed17/trunk_only_ft_seed17.json +509 -0
- reports/maniskill_bag_bridge_eval_less_bonus_seed23/adapter_active_ft_seed23.json +509 -0
- reports/maniskill_bag_bridge_eval_less_bonus_seed23/adapter_noop_seed23.json +488 -0
- reports/maniskill_bag_bridge_eval_less_bonus_seed23/public_benchmark_package_summary.json +60 -0
- reports/maniskill_bag_bridge_eval_less_bonus_seed23/trunk_only_ft_seed23.json +509 -0
- reports/maniskill_cloth_bridge_val_sweep_seed23/very_low_thresh_less_bonus/adapter_noop_seed23.json +110 -0
- reports/maniskill_cloth_bridge_val_sweep_seed23/very_low_thresh_less_bonus/trunk_only_ft_seed23.json +131 -0
- reports/maniskill_pickclutter_smoke/_debug_active.json +46 -0
- reports/maniskill_pickclutter_smoke/_debug_noop.json +46 -0
- reports/maniskill_pickclutter_smoke/_debug_trunk.json +46 -0
- reports/maniskill_pickclutter_smoke/adapter_active_ft_seed17.json +508 -0
- reports/maniskill_pickclutter_smoke/adapter_noop_seed17.json +508 -0
- reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.json +60 -0
- reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.md +14 -0
- reports/maniskill_pickclutter_smoke/trunk_only_ft_seed17.json +508 -0
- reports/maniskill_pickclutter_smoke_v4/adapter_active_ft_seed17.json +508 -0
- reports/maniskill_pickclutter_smoke_v4/adapter_noop_seed17.json +508 -0
- reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.json +60 -0
- reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.md +14 -0
- reports/maniskill_pickclutter_smoke_v4/trunk_only_ft_seed17.json +508 -0
- reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/adapter_active_ft_seed17.json +508 -0
- reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/adapter_noop_seed17.json +508 -0
- reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/public_benchmark_package_summary.md +14 -0
- reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/adapter_noop_seed17.json +508 -0
outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/summary.json
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outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/config_resolved.yaml
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| 1 |
+
experiment_name: proxy_adapter_wrapped_clip_base_reuse128_seed17
|
| 2 |
+
output_dir: /workspace/workspace/outputs/adapter_proxy
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase
|
| 14 |
+
train_episodes_per_proxy: 128
|
| 15 |
+
val_episodes_per_proxy: 32
|
| 16 |
+
train_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_rebuild128_seed17.pt
|
| 17 |
+
val_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_rebuild128_seed17.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 17
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 4
|
| 26 |
+
batch_size: 8
|
| 27 |
+
num_workers: 32
|
| 28 |
+
lr: 0.0001
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: adapter_wrapped
|
| 32 |
+
training_regime: adapter_train_frozen_trunk
|
| 33 |
+
eval_mode: adapter_active
|
| 34 |
+
adapter_mode: adapter_active
|
| 35 |
+
adapter_use_transition_model: true
|
| 36 |
+
adapter_use_task_conditioning: true
|
| 37 |
+
use_bf16: true
|
| 38 |
+
grad_clip_norm: 1.0
|
| 39 |
+
freeze_backbone: true
|
| 40 |
+
gradient_checkpointing: false
|
| 41 |
+
plan_during_train: false
|
| 42 |
+
plan_during_eval: false
|
| 43 |
+
support_mode_conditioning: true
|
| 44 |
+
planner_mode: false
|
| 45 |
+
use_depth: true
|
| 46 |
+
use_world_model: false
|
| 47 |
+
use_role_tokens: true
|
| 48 |
+
compute_equivariance_probe: false
|
| 49 |
+
trainable_parameter_prefixes:
|
| 50 |
+
- adapter.state_head
|
| 51 |
+
- adapter.proposal_prior
|
| 52 |
+
- adapter.transition_model
|
| 53 |
+
- adapter.planner
|
| 54 |
+
policy:
|
| 55 |
+
backbone:
|
| 56 |
+
model_name: openai/clip-vit-base-patch32
|
| 57 |
+
hidden_dim: 512
|
| 58 |
+
max_text_tokens: 32
|
| 59 |
+
freeze_backbone: true
|
| 60 |
+
gradient_checkpointing: false
|
| 61 |
+
use_dummy_backbone: false
|
| 62 |
+
fusion:
|
| 63 |
+
hidden_dim: 512
|
| 64 |
+
num_cameras: 3
|
| 65 |
+
num_layers: 4
|
| 66 |
+
num_heads: 8
|
| 67 |
+
ff_dim: 2048
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
proprio_dim: 32
|
| 70 |
+
proprio_tokens: 1
|
| 71 |
+
memory:
|
| 72 |
+
hidden_dim: 512
|
| 73 |
+
action_dim: 14
|
| 74 |
+
history_steps: 6
|
| 75 |
+
scene_history_steps: 3
|
| 76 |
+
belief_history_steps: 8
|
| 77 |
+
num_layers: 2
|
| 78 |
+
dropout: 0.1
|
| 79 |
+
memory_bank_size: 4
|
| 80 |
+
scene_bank_size: 2
|
| 81 |
+
belief_bank_size: 2
|
| 82 |
+
num_heads: 8
|
| 83 |
+
max_history_steps: 8
|
| 84 |
+
reveal_cache_steps: 4
|
| 85 |
+
reveal_cache_decay: 0.7
|
| 86 |
+
decoder:
|
| 87 |
+
hidden_dim: 512
|
| 88 |
+
num_heads: 8
|
| 89 |
+
num_layers: 4
|
| 90 |
+
ff_dim: 2048
|
| 91 |
+
dropout: 0.1
|
| 92 |
+
chunk_size: 8
|
| 93 |
+
action_dim: 14
|
| 94 |
+
arm_action_dim: 7
|
| 95 |
+
num_candidates: 8
|
| 96 |
+
num_phases: 5
|
| 97 |
+
num_arm_roles: 4
|
| 98 |
+
num_proposal_modes: 7
|
| 99 |
+
planner_top_k: 4
|
| 100 |
+
proposal_delta_scale: 0.2
|
| 101 |
+
proposal_slot_scale: 0.05
|
| 102 |
+
reveal_head:
|
| 103 |
+
hidden_dim: 512
|
| 104 |
+
num_support_modes: 3
|
| 105 |
+
num_approach_templates: 32
|
| 106 |
+
rollout_horizon: 5
|
| 107 |
+
belief_map_size: 32
|
| 108 |
+
field_size: 16
|
| 109 |
+
num_heads: 8
|
| 110 |
+
predict_belief_map: true
|
| 111 |
+
num_phases: 5
|
| 112 |
+
num_arm_roles: 4
|
| 113 |
+
num_interaction_tokens: 8
|
| 114 |
+
num_tasks: 4
|
| 115 |
+
world_model:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
action_dim: 14
|
| 118 |
+
num_support_modes: 3
|
| 119 |
+
num_approach_templates: 32
|
| 120 |
+
rollout_horizon: 5
|
| 121 |
+
field_size: 16
|
| 122 |
+
num_heads: 8
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
num_interaction_tokens: 8
|
| 126 |
+
belief_map_size: 32
|
| 127 |
+
predict_belief_map: true
|
| 128 |
+
scene_bank_size: 2
|
| 129 |
+
belief_bank_size: 2
|
| 130 |
+
rollout_mode: compact_rollout
|
| 131 |
+
num_tasks: 4
|
| 132 |
+
lightweight_field_size: 4
|
| 133 |
+
planner:
|
| 134 |
+
hidden_dim: 512
|
| 135 |
+
num_candidates: 8
|
| 136 |
+
action_dim: 14
|
| 137 |
+
num_support_modes: 3
|
| 138 |
+
utility_margin: 0.1
|
| 139 |
+
num_heads: 8
|
| 140 |
+
num_layers: 2
|
| 141 |
+
num_phases: 5
|
| 142 |
+
num_arm_roles: 4
|
| 143 |
+
top_k: 4
|
| 144 |
+
adapter_confidence_threshold: 0.55
|
| 145 |
+
loss_weights:
|
| 146 |
+
action: 1.0
|
| 147 |
+
phase: 0.08
|
| 148 |
+
arm_role: 0.08
|
| 149 |
+
support_mode: 0.08
|
| 150 |
+
corridor: 0.12
|
| 151 |
+
persistence: 0.06
|
| 152 |
+
disturbance: 0.06
|
| 153 |
+
world_model: 0.0
|
| 154 |
+
transition: 0.2
|
| 155 |
+
belief: 0.05
|
| 156 |
+
visibility: 0.05
|
| 157 |
+
clearance: 0.06
|
| 158 |
+
support_stability: 0.06
|
| 159 |
+
reocclusion: 0.06
|
| 160 |
+
occluder_contact: 0.05
|
| 161 |
+
grasp_affordance: 0.05
|
| 162 |
+
planner_success: 0.15
|
| 163 |
+
planner_risk: 0.08
|
| 164 |
+
planner_ranking: 0.15
|
| 165 |
+
proposal_reconstruction: 0.08
|
| 166 |
+
proposal_success: 0.1
|
| 167 |
+
proposal_ranking: 0.12
|
| 168 |
+
proposal_mode: 0.08
|
| 169 |
+
proposal_diversity: 0.05
|
| 170 |
+
role_swap_consistency: 0.0
|
| 171 |
+
task_metrics: 0.06
|
| 172 |
+
gate: 0.05
|
| 173 |
+
distillation: 0.05
|
| 174 |
+
calibration: 0.02
|
outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/summary.json
ADDED
|
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outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/config_resolved.yaml
ADDED
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@@ -0,0 +1,170 @@
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
experiment_name: proxy_adapter_wrapped_clip_rank_only_fast_seed17
|
| 2 |
+
output_dir: /workspace/workspace/outputs/adapter_proxy
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_fast
|
| 14 |
+
train_episodes_per_proxy: 12
|
| 15 |
+
val_episodes_per_proxy: 4
|
| 16 |
+
train_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_fast.pt
|
| 17 |
+
val_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_fast.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 17
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 1
|
| 26 |
+
batch_size: 4
|
| 27 |
+
num_workers: 8
|
| 28 |
+
lr: 5.0e-05
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: adapter_wrapped
|
| 32 |
+
training_regime: proxy_rank_only
|
| 33 |
+
eval_mode: adapter_active
|
| 34 |
+
adapter_mode: adapter_active
|
| 35 |
+
adapter_use_transition_model: false
|
| 36 |
+
adapter_use_task_conditioning: true
|
| 37 |
+
use_bf16: true
|
| 38 |
+
grad_clip_norm: 1.0
|
| 39 |
+
freeze_backbone: true
|
| 40 |
+
gradient_checkpointing: false
|
| 41 |
+
plan_during_train: false
|
| 42 |
+
plan_during_eval: false
|
| 43 |
+
support_mode_conditioning: true
|
| 44 |
+
planner_mode: false
|
| 45 |
+
use_depth: true
|
| 46 |
+
use_world_model: false
|
| 47 |
+
use_role_tokens: true
|
| 48 |
+
compute_equivariance_probe: false
|
| 49 |
+
trainable_parameter_prefixes:
|
| 50 |
+
- adapter.proposal_prior
|
| 51 |
+
- adapter.planner
|
| 52 |
+
policy:
|
| 53 |
+
backbone:
|
| 54 |
+
model_name: openai/clip-vit-base-patch32
|
| 55 |
+
hidden_dim: 512
|
| 56 |
+
max_text_tokens: 32
|
| 57 |
+
freeze_backbone: true
|
| 58 |
+
gradient_checkpointing: false
|
| 59 |
+
use_dummy_backbone: false
|
| 60 |
+
fusion:
|
| 61 |
+
hidden_dim: 512
|
| 62 |
+
num_cameras: 3
|
| 63 |
+
num_layers: 4
|
| 64 |
+
num_heads: 8
|
| 65 |
+
ff_dim: 2048
|
| 66 |
+
dropout: 0.1
|
| 67 |
+
proprio_dim: 32
|
| 68 |
+
proprio_tokens: 1
|
| 69 |
+
memory:
|
| 70 |
+
hidden_dim: 512
|
| 71 |
+
action_dim: 14
|
| 72 |
+
history_steps: 6
|
| 73 |
+
scene_history_steps: 3
|
| 74 |
+
belief_history_steps: 8
|
| 75 |
+
num_layers: 2
|
| 76 |
+
dropout: 0.1
|
| 77 |
+
memory_bank_size: 4
|
| 78 |
+
scene_bank_size: 2
|
| 79 |
+
belief_bank_size: 2
|
| 80 |
+
num_heads: 8
|
| 81 |
+
max_history_steps: 8
|
| 82 |
+
decoder:
|
| 83 |
+
hidden_dim: 512
|
| 84 |
+
num_heads: 8
|
| 85 |
+
num_layers: 4
|
| 86 |
+
ff_dim: 2048
|
| 87 |
+
dropout: 0.1
|
| 88 |
+
chunk_size: 8
|
| 89 |
+
action_dim: 14
|
| 90 |
+
arm_action_dim: 7
|
| 91 |
+
num_candidates: 8
|
| 92 |
+
num_phases: 5
|
| 93 |
+
num_arm_roles: 4
|
| 94 |
+
num_proposal_modes: 7
|
| 95 |
+
planner_top_k: 4
|
| 96 |
+
proposal_delta_scale: 0.2
|
| 97 |
+
proposal_slot_scale: 0.05
|
| 98 |
+
reveal_head:
|
| 99 |
+
hidden_dim: 512
|
| 100 |
+
num_support_modes: 3
|
| 101 |
+
num_approach_templates: 32
|
| 102 |
+
rollout_horizon: 5
|
| 103 |
+
belief_map_size: 32
|
| 104 |
+
field_size: 16
|
| 105 |
+
num_heads: 8
|
| 106 |
+
predict_belief_map: true
|
| 107 |
+
num_phases: 5
|
| 108 |
+
num_arm_roles: 4
|
| 109 |
+
num_interaction_tokens: 8
|
| 110 |
+
num_tasks: 4
|
| 111 |
+
world_model:
|
| 112 |
+
hidden_dim: 512
|
| 113 |
+
action_dim: 14
|
| 114 |
+
num_support_modes: 3
|
| 115 |
+
num_approach_templates: 32
|
| 116 |
+
rollout_horizon: 5
|
| 117 |
+
field_size: 16
|
| 118 |
+
num_heads: 8
|
| 119 |
+
num_phases: 5
|
| 120 |
+
num_arm_roles: 4
|
| 121 |
+
num_interaction_tokens: 8
|
| 122 |
+
belief_map_size: 32
|
| 123 |
+
predict_belief_map: true
|
| 124 |
+
scene_bank_size: 2
|
| 125 |
+
belief_bank_size: 2
|
| 126 |
+
rollout_mode: compact_rollout
|
| 127 |
+
num_tasks: 4
|
| 128 |
+
lightweight_field_size: 4
|
| 129 |
+
planner:
|
| 130 |
+
hidden_dim: 512
|
| 131 |
+
num_candidates: 8
|
| 132 |
+
action_dim: 14
|
| 133 |
+
num_support_modes: 3
|
| 134 |
+
utility_margin: 0.1
|
| 135 |
+
num_heads: 8
|
| 136 |
+
num_layers: 2
|
| 137 |
+
num_phases: 5
|
| 138 |
+
num_arm_roles: 4
|
| 139 |
+
top_k: 4
|
| 140 |
+
adapter_confidence_threshold: 0.55
|
| 141 |
+
loss_weights:
|
| 142 |
+
action: 0.5
|
| 143 |
+
phase: 0.0
|
| 144 |
+
arm_role: 0.0
|
| 145 |
+
support_mode: 0.0
|
| 146 |
+
corridor: 0.0
|
| 147 |
+
persistence: 0.0
|
| 148 |
+
disturbance: 0.0
|
| 149 |
+
world_model: 0.0
|
| 150 |
+
transition: 0.0
|
| 151 |
+
belief: 0.0
|
| 152 |
+
visibility: 0.0
|
| 153 |
+
clearance: 0.0
|
| 154 |
+
support_stability: 0.0
|
| 155 |
+
reocclusion: 0.0
|
| 156 |
+
occluder_contact: 0.0
|
| 157 |
+
grasp_affordance: 0.0
|
| 158 |
+
planner_success: 0.0
|
| 159 |
+
planner_risk: 0.0
|
| 160 |
+
planner_ranking: 0.2
|
| 161 |
+
proposal_reconstruction: 0.0
|
| 162 |
+
proposal_success: 0.1
|
| 163 |
+
proposal_ranking: 0.2
|
| 164 |
+
proposal_mode: 0.1
|
| 165 |
+
proposal_diversity: 0.02
|
| 166 |
+
role_swap_consistency: 0.0
|
| 167 |
+
task_metrics: 0.0
|
| 168 |
+
gate: 0.0
|
| 169 |
+
distillation: 0.05
|
| 170 |
+
calibration: 0.0
|
outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/metrics.json
ADDED
|
@@ -0,0 +1,71 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"epoch": 0,
|
| 4 |
+
"train": {
|
| 5 |
+
"action": 1.197754372721133,
|
| 6 |
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"arm_role": 0.002544189276902572,
|
| 7 |
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"belief": 0.10325424243574557,
|
| 8 |
+
"calibration": 0.0,
|
| 9 |
+
"clearance": 0.08140122955260069,
|
| 10 |
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"corridor": 0.21582962238513256,
|
| 11 |
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"distillation": 0.0017091589068750973,
|
| 12 |
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"disturbance": 0.0018385711983959798,
|
| 13 |
+
"gate": 0.0,
|
| 14 |
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"grasp_affordance": 0.012481509039745382,
|
| 15 |
+
"occluder_contact": 0.194344752508661,
|
| 16 |
+
"persistence": 0.7591703522130442,
|
| 17 |
+
"phase": 0.11467522253160892,
|
| 18 |
+
"planner_ranking": 1.1083470168321028,
|
| 19 |
+
"planner_risk": 0.03255904554996802,
|
| 20 |
+
"planner_success": 0.8582628343416296,
|
| 21 |
+
"proposal_diversity": 0.0,
|
| 22 |
+
"proposal_mode": 1.1811642983685369,
|
| 23 |
+
"proposal_ranking": 0.7893771244132001,
|
| 24 |
+
"proposal_reconstruction": 1.2029107290765513,
|
| 25 |
+
"proposal_success": 0.6142160711081132,
|
| 26 |
+
"reocclusion": 0.25430014456176886,
|
| 27 |
+
"role_swap_consistency": 0.0,
|
| 28 |
+
"support_mode": 0.004081056595010602,
|
| 29 |
+
"support_stability": 0.13368942070266474,
|
| 30 |
+
"task_metrics": 0.0832325461442056,
|
| 31 |
+
"total": 1.158045794652856,
|
| 32 |
+
"transition": 0.0,
|
| 33 |
+
"uncertainty": 2.6861929209980705e-05,
|
| 34 |
+
"visibility": 0.09703111033076825,
|
| 35 |
+
"world_model": 0.0
|
| 36 |
+
},
|
| 37 |
+
"val": {
|
| 38 |
+
"action": 1.140361487865448,
|
| 39 |
+
"arm_role": 0.0023584125883644447,
|
| 40 |
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"belief": 0.10074711591005325,
|
| 41 |
+
"calibration": 0.0,
|
| 42 |
+
"clearance": 0.0765643808990717,
|
| 43 |
+
"corridor": 0.1961718276143074,
|
| 44 |
+
"distillation": 0.003883325931383297,
|
| 45 |
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"disturbance": 0.0014785153052798705,
|
| 46 |
+
"gate": 0.0,
|
| 47 |
+
"grasp_affordance": 0.010992531199008226,
|
| 48 |
+
"occluder_contact": 0.1946533638983965,
|
| 49 |
+
"persistence": 0.5068328934721649,
|
| 50 |
+
"phase": 0.16515514547063503,
|
| 51 |
+
"planner_ranking": 1.0683312863111496,
|
| 52 |
+
"planner_risk": 0.03190935752354562,
|
| 53 |
+
"planner_success": 0.8590418174862862,
|
| 54 |
+
"proposal_diversity": 0.0,
|
| 55 |
+
"proposal_mode": 0.8785674348473549,
|
| 56 |
+
"proposal_ranking": 0.5385221149772406,
|
| 57 |
+
"proposal_reconstruction": 1.144310723990202,
|
| 58 |
+
"proposal_success": 0.5420645326375961,
|
| 59 |
+
"reocclusion": 0.21981605514883995,
|
| 60 |
+
"role_swap_consistency": 0.0,
|
| 61 |
+
"support_mode": 0.003642815601779148,
|
| 62 |
+
"support_stability": 0.1338925575837493,
|
| 63 |
+
"task_metrics": 0.06881333282217383,
|
| 64 |
+
"total": 1.0338090658187866,
|
| 65 |
+
"transition": 0.0,
|
| 66 |
+
"uncertainty": 2.9527319277633524e-05,
|
| 67 |
+
"visibility": 0.0945812463760376,
|
| 68 |
+
"world_model": 0.0
|
| 69 |
+
}
|
| 70 |
+
}
|
| 71 |
+
]
|
outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_rebuild128_seed17/metrics.json
ADDED
|
@@ -0,0 +1,278 @@
|
|
|
|
|
|
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|
| 277 |
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|
| 278 |
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]
|
outputs/adapter_proxy/proxy_adapter_wrapped_clip_transition_fast_seed17/config_resolved.yaml
ADDED
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|
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|
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|
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|
|
|
|
| 1 |
+
experiment_name: proxy_adapter_wrapped_clip_transition_fast_seed17
|
| 2 |
+
output_dir: /workspace/workspace/outputs/adapter_proxy
|
| 3 |
+
device: cuda
|
| 4 |
+
seed: 17
|
| 5 |
+
init_checkpoint: /workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt
|
| 6 |
+
init_strict: false
|
| 7 |
+
data:
|
| 8 |
+
proxies:
|
| 9 |
+
- foliage_proxy
|
| 10 |
+
- bag_proxy
|
| 11 |
+
- cloth_proxy
|
| 12 |
+
resolution: 224
|
| 13 |
+
dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_fast_transition
|
| 14 |
+
train_episodes_per_proxy: 12
|
| 15 |
+
val_episodes_per_proxy: 4
|
| 16 |
+
train_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_fast_transition.pt
|
| 17 |
+
val_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_fast_transition.pt
|
| 18 |
+
rebuild_dataset: false
|
| 19 |
+
chunk_horizon: 8
|
| 20 |
+
rollout_horizon: 5
|
| 21 |
+
history_steps: 6
|
| 22 |
+
planner_candidates: 8
|
| 23 |
+
seed: 17
|
| 24 |
+
optim:
|
| 25 |
+
epochs: 2
|
| 26 |
+
batch_size: 4
|
| 27 |
+
num_workers: 8
|
| 28 |
+
lr: 0.0001
|
| 29 |
+
weight_decay: 0.0001
|
| 30 |
+
trainer:
|
| 31 |
+
policy_type: adapter_wrapped
|
| 32 |
+
training_regime: adapter_train_frozen_trunk
|
| 33 |
+
eval_mode: adapter_active
|
| 34 |
+
adapter_mode: adapter_active
|
| 35 |
+
adapter_use_transition_model: true
|
| 36 |
+
adapter_use_task_conditioning: true
|
| 37 |
+
use_bf16: true
|
| 38 |
+
grad_clip_norm: 1.0
|
| 39 |
+
freeze_backbone: true
|
| 40 |
+
gradient_checkpointing: false
|
| 41 |
+
plan_during_train: false
|
| 42 |
+
plan_during_eval: false
|
| 43 |
+
support_mode_conditioning: true
|
| 44 |
+
planner_mode: false
|
| 45 |
+
use_depth: true
|
| 46 |
+
use_world_model: false
|
| 47 |
+
use_role_tokens: true
|
| 48 |
+
compute_equivariance_probe: false
|
| 49 |
+
trainable_parameter_prefixes:
|
| 50 |
+
- adapter.state_head
|
| 51 |
+
- adapter.proposal_prior
|
| 52 |
+
- adapter.transition_model
|
| 53 |
+
- adapter.planner
|
| 54 |
+
policy:
|
| 55 |
+
backbone:
|
| 56 |
+
model_name: openai/clip-vit-base-patch32
|
| 57 |
+
hidden_dim: 512
|
| 58 |
+
max_text_tokens: 32
|
| 59 |
+
freeze_backbone: true
|
| 60 |
+
gradient_checkpointing: false
|
| 61 |
+
use_dummy_backbone: false
|
| 62 |
+
fusion:
|
| 63 |
+
hidden_dim: 512
|
| 64 |
+
num_cameras: 3
|
| 65 |
+
num_layers: 4
|
| 66 |
+
num_heads: 8
|
| 67 |
+
ff_dim: 2048
|
| 68 |
+
dropout: 0.1
|
| 69 |
+
proprio_dim: 32
|
| 70 |
+
proprio_tokens: 1
|
| 71 |
+
memory:
|
| 72 |
+
hidden_dim: 512
|
| 73 |
+
action_dim: 14
|
| 74 |
+
history_steps: 6
|
| 75 |
+
scene_history_steps: 3
|
| 76 |
+
belief_history_steps: 8
|
| 77 |
+
num_layers: 2
|
| 78 |
+
dropout: 0.1
|
| 79 |
+
memory_bank_size: 4
|
| 80 |
+
scene_bank_size: 2
|
| 81 |
+
belief_bank_size: 2
|
| 82 |
+
num_heads: 8
|
| 83 |
+
max_history_steps: 8
|
| 84 |
+
reveal_cache_steps: 4
|
| 85 |
+
reveal_cache_decay: 0.7
|
| 86 |
+
decoder:
|
| 87 |
+
hidden_dim: 512
|
| 88 |
+
num_heads: 8
|
| 89 |
+
num_layers: 4
|
| 90 |
+
ff_dim: 2048
|
| 91 |
+
dropout: 0.1
|
| 92 |
+
chunk_size: 8
|
| 93 |
+
action_dim: 14
|
| 94 |
+
arm_action_dim: 7
|
| 95 |
+
num_candidates: 8
|
| 96 |
+
num_phases: 5
|
| 97 |
+
num_arm_roles: 4
|
| 98 |
+
num_proposal_modes: 7
|
| 99 |
+
planner_top_k: 4
|
| 100 |
+
proposal_delta_scale: 0.2
|
| 101 |
+
proposal_slot_scale: 0.05
|
| 102 |
+
reveal_head:
|
| 103 |
+
hidden_dim: 512
|
| 104 |
+
num_support_modes: 3
|
| 105 |
+
num_approach_templates: 32
|
| 106 |
+
rollout_horizon: 5
|
| 107 |
+
belief_map_size: 32
|
| 108 |
+
field_size: 16
|
| 109 |
+
num_heads: 8
|
| 110 |
+
predict_belief_map: true
|
| 111 |
+
num_phases: 5
|
| 112 |
+
num_arm_roles: 4
|
| 113 |
+
num_interaction_tokens: 8
|
| 114 |
+
num_tasks: 4
|
| 115 |
+
world_model:
|
| 116 |
+
hidden_dim: 512
|
| 117 |
+
action_dim: 14
|
| 118 |
+
num_support_modes: 3
|
| 119 |
+
num_approach_templates: 32
|
| 120 |
+
rollout_horizon: 5
|
| 121 |
+
field_size: 16
|
| 122 |
+
num_heads: 8
|
| 123 |
+
num_phases: 5
|
| 124 |
+
num_arm_roles: 4
|
| 125 |
+
num_interaction_tokens: 8
|
| 126 |
+
belief_map_size: 32
|
| 127 |
+
predict_belief_map: true
|
| 128 |
+
scene_bank_size: 2
|
| 129 |
+
belief_bank_size: 2
|
| 130 |
+
rollout_mode: compact_rollout
|
| 131 |
+
num_tasks: 4
|
| 132 |
+
lightweight_field_size: 4
|
| 133 |
+
planner:
|
| 134 |
+
hidden_dim: 512
|
| 135 |
+
num_candidates: 8
|
| 136 |
+
action_dim: 14
|
| 137 |
+
num_support_modes: 3
|
| 138 |
+
utility_margin: 0.1
|
| 139 |
+
num_heads: 8
|
| 140 |
+
num_layers: 2
|
| 141 |
+
num_phases: 5
|
| 142 |
+
num_arm_roles: 4
|
| 143 |
+
top_k: 4
|
| 144 |
+
adapter_confidence_threshold: 0.45
|
| 145 |
+
loss_weights:
|
| 146 |
+
action: 1.0
|
| 147 |
+
phase: 0.08
|
| 148 |
+
arm_role: 0.08
|
| 149 |
+
support_mode: 0.08
|
| 150 |
+
corridor: 0.12
|
| 151 |
+
persistence: 0.06
|
| 152 |
+
disturbance: 0.06
|
| 153 |
+
world_model: 0.0
|
| 154 |
+
transition: 0.15
|
| 155 |
+
belief: 0.05
|
| 156 |
+
visibility: 0.05
|
| 157 |
+
clearance: 0.06
|
| 158 |
+
support_stability: 0.06
|
| 159 |
+
reocclusion: 0.06
|
| 160 |
+
occluder_contact: 0.05
|
| 161 |
+
grasp_affordance: 0.05
|
| 162 |
+
planner_success: 0.15
|
| 163 |
+
planner_risk: 0.08
|
| 164 |
+
planner_ranking: 0.15
|
| 165 |
+
proposal_reconstruction: 0.08
|
| 166 |
+
proposal_success: 0.1
|
| 167 |
+
proposal_ranking: 0.12
|
| 168 |
+
proposal_mode: 0.08
|
| 169 |
+
proposal_diversity: 0.05
|
| 170 |
+
role_swap_consistency: 0.0
|
| 171 |
+
task_metrics: 0.06
|
| 172 |
+
gate: 0.05
|
| 173 |
+
distillation: 0.05
|
| 174 |
+
calibration: 0.02
|
outputs/adapter_proxy/proxy_adapter_wrapped_clip_transition_fast_seed17/metrics.json
ADDED
|
@@ -0,0 +1,140 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[
|
| 2 |
+
{
|
| 3 |
+
"epoch": 0,
|
| 4 |
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"train": {
|
| 5 |
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|
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"calibration": 0.0,
|
| 9 |
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|
| 10 |
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|
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|
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|
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"gate": 0.0,
|
| 14 |
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"grasp_affordance": 0.012573797620185043,
|
| 15 |
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"occluder_contact": 0.1948690563440323,
|
| 16 |
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|
| 17 |
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"phase": 0.14094198657118756,
|
| 18 |
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"planner_ranking": 1.1814680177232493,
|
| 19 |
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| 20 |
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| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
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|
| 37 |
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"total": 2.0122548937797546,
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"transition": 1.4614488631486893,
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"uncertainty": 4.029161317120611e-05,
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| 69 |
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}
|
| 70 |
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},
|
| 71 |
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{
|
| 72 |
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"epoch": 1,
|
| 73 |
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|
outputs/adapter_proxy/proxy_adapter_wrapped_clip_transition_fast_seed17/summary.json
ADDED
|
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|
|
|
reports/anchor_dual_push_smoke_ep1/original_trunk/rollout_eval.json
ADDED
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@@ -0,0 +1,280 @@
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| 1 |
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"timestep": 17,
|
| 198 |
+
"chosen_macro_mode": null,
|
| 199 |
+
"planner_scores": null,
|
| 200 |
+
"predicted_reocclusion": null,
|
| 201 |
+
"support_mode_conditioning": true,
|
| 202 |
+
"path_recoveries": 0,
|
| 203 |
+
"noop_fallbacks": 0
|
| 204 |
+
},
|
| 205 |
+
{
|
| 206 |
+
"timestep": 18,
|
| 207 |
+
"chosen_macro_mode": null,
|
| 208 |
+
"planner_scores": null,
|
| 209 |
+
"predicted_reocclusion": null,
|
| 210 |
+
"support_mode_conditioning": true,
|
| 211 |
+
"path_recoveries": 0,
|
| 212 |
+
"noop_fallbacks": 0
|
| 213 |
+
},
|
| 214 |
+
{
|
| 215 |
+
"timestep": 19,
|
| 216 |
+
"chosen_macro_mode": null,
|
| 217 |
+
"planner_scores": null,
|
| 218 |
+
"predicted_reocclusion": null,
|
| 219 |
+
"support_mode_conditioning": true,
|
| 220 |
+
"path_recoveries": 0,
|
| 221 |
+
"noop_fallbacks": 0
|
| 222 |
+
},
|
| 223 |
+
{
|
| 224 |
+
"timestep": 20,
|
| 225 |
+
"chosen_macro_mode": null,
|
| 226 |
+
"planner_scores": null,
|
| 227 |
+
"predicted_reocclusion": null,
|
| 228 |
+
"support_mode_conditioning": true,
|
| 229 |
+
"path_recoveries": 0,
|
| 230 |
+
"noop_fallbacks": 0
|
| 231 |
+
},
|
| 232 |
+
{
|
| 233 |
+
"timestep": 21,
|
| 234 |
+
"chosen_macro_mode": null,
|
| 235 |
+
"planner_scores": null,
|
| 236 |
+
"predicted_reocclusion": null,
|
| 237 |
+
"support_mode_conditioning": true,
|
| 238 |
+
"path_recoveries": 0,
|
| 239 |
+
"noop_fallbacks": 0
|
| 240 |
+
},
|
| 241 |
+
{
|
| 242 |
+
"timestep": 22,
|
| 243 |
+
"chosen_macro_mode": null,
|
| 244 |
+
"planner_scores": null,
|
| 245 |
+
"predicted_reocclusion": null,
|
| 246 |
+
"support_mode_conditioning": true,
|
| 247 |
+
"path_recoveries": 0,
|
| 248 |
+
"noop_fallbacks": 0
|
| 249 |
+
},
|
| 250 |
+
{
|
| 251 |
+
"timestep": 23,
|
| 252 |
+
"chosen_macro_mode": null,
|
| 253 |
+
"planner_scores": null,
|
| 254 |
+
"predicted_reocclusion": null,
|
| 255 |
+
"support_mode_conditioning": true,
|
| 256 |
+
"path_recoveries": 0,
|
| 257 |
+
"noop_fallbacks": 0
|
| 258 |
+
},
|
| 259 |
+
{
|
| 260 |
+
"timestep": 24,
|
| 261 |
+
"chosen_macro_mode": null,
|
| 262 |
+
"planner_scores": null,
|
| 263 |
+
"predicted_reocclusion": null,
|
| 264 |
+
"support_mode_conditioning": true,
|
| 265 |
+
"path_recoveries": 0,
|
| 266 |
+
"noop_fallbacks": 0
|
| 267 |
+
}
|
| 268 |
+
],
|
| 269 |
+
"success": 0.0,
|
| 270 |
+
"return": 0.0,
|
| 271 |
+
"path_recoveries": 0,
|
| 272 |
+
"noop_fallbacks": 0
|
| 273 |
+
}
|
| 274 |
+
],
|
| 275 |
+
"mean_success": 0.0,
|
| 276 |
+
"mean_return": 0.0
|
| 277 |
+
}
|
| 278 |
+
},
|
| 279 |
+
"mean_success": 0.0
|
| 280 |
+
}
|
reports/anybimanual_anchor_bridge/adapter_noop_ep5/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 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
|
reports/anybimanual_anchor_bridge/adapter_noop_ep5/stderr.txt
ADDED
|
@@ -0,0 +1,35 @@
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 2 |
+
The version_base parameter is not specified.
|
| 3 |
+
Please specify a compatability version level, or None.
|
| 4 |
+
Will assume defaults for version 1.1
|
| 5 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 6 |
+
/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
|
| 7 |
+
warnings.warn(msg, UserWarning)
|
| 8 |
+
/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_'.
|
| 9 |
+
See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
|
| 10 |
+
deprecation_warning(
|
| 11 |
+
/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.
|
| 12 |
+
See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
|
| 13 |
+
ret = run_job(
|
| 14 |
+
/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.
|
| 15 |
+
from pkg_resources import parse_version
|
| 16 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 17 |
+
The version_base parameter is not specified.
|
| 18 |
+
Please specify a compatability version level, or None.
|
| 19 |
+
Will assume defaults for version 1.1
|
| 20 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 21 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 22 |
+
The version_base parameter is not specified.
|
| 23 |
+
Please specify a compatability version level, or None.
|
| 24 |
+
Will assume defaults for version 1.1
|
| 25 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 26 |
+
/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.
|
| 27 |
+
from pkg_resources import parse_version
|
| 28 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 29 |
+
The version_base parameter is not specified.
|
| 30 |
+
Please specify a compatability version level, or None.
|
| 31 |
+
Will assume defaults for version 1.1
|
| 32 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 33 |
+
/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.)
|
| 34 |
+
prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}
|
| 35 |
+
[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]
|
reports/anybimanual_anchor_bridge/adapter_noop_ep5/stdout.txt
ADDED
|
@@ -0,0 +1,167 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[2026-03-31 23:03:30,597][root][INFO] -
|
| 2 |
+
method:
|
| 3 |
+
name: PERACT_BC
|
| 4 |
+
agent_type: leader_follower
|
| 5 |
+
robot_name: bimanual
|
| 6 |
+
image_crop_size: 64
|
| 7 |
+
bounds_offset:
|
| 8 |
+
- 0.15
|
| 9 |
+
voxel_sizes:
|
| 10 |
+
- 100
|
| 11 |
+
include_prev_layer: false
|
| 12 |
+
num_latents: 2048
|
| 13 |
+
latent_dim: 512
|
| 14 |
+
transformer_depth: 6
|
| 15 |
+
transformer_iterations: 1
|
| 16 |
+
cross_heads: 1
|
| 17 |
+
cross_dim_head: 64
|
| 18 |
+
latent_heads: 8
|
| 19 |
+
latent_dim_head: 64
|
| 20 |
+
pos_encoding_with_lang: true
|
| 21 |
+
conv_downsample: true
|
| 22 |
+
lang_fusion_type: seq
|
| 23 |
+
voxel_patch_size: 5
|
| 24 |
+
voxel_patch_stride: 5
|
| 25 |
+
final_dim: 64
|
| 26 |
+
low_dim_size: 4
|
| 27 |
+
input_dropout: 0.1
|
| 28 |
+
attn_dropout: 0.1
|
| 29 |
+
decoder_dropout: 0.0
|
| 30 |
+
lr: 0.0005
|
| 31 |
+
lr_scheduler: false
|
| 32 |
+
num_warmup_steps: 3000
|
| 33 |
+
optimizer: lamb
|
| 34 |
+
lambda_weight_l2: 1.0e-06
|
| 35 |
+
trans_loss_weight: 1.0
|
| 36 |
+
rot_loss_weight: 1.0
|
| 37 |
+
grip_loss_weight: 1.0
|
| 38 |
+
collision_loss_weight: 1.0
|
| 39 |
+
rotation_resolution: 5
|
| 40 |
+
activation: lrelu
|
| 41 |
+
norm: None
|
| 42 |
+
crop_augmentation: true
|
| 43 |
+
transform_augmentation:
|
| 44 |
+
apply_se3: true
|
| 45 |
+
aug_xyz:
|
| 46 |
+
- 0.125
|
| 47 |
+
- 0.125
|
| 48 |
+
- 0.125
|
| 49 |
+
aug_rpy:
|
| 50 |
+
- 0.0
|
| 51 |
+
- 0.0
|
| 52 |
+
- 45.0
|
| 53 |
+
aug_rot_resolution: ${method.rotation_resolution}
|
| 54 |
+
demo_augmentation: true
|
| 55 |
+
demo_augmentation_every_n: 10
|
| 56 |
+
no_skip_connection: false
|
| 57 |
+
no_perceiver: false
|
| 58 |
+
no_language: false
|
| 59 |
+
keypoint_method: heuristic
|
| 60 |
+
rlbench:
|
| 61 |
+
task_name: perlf_release_dual_push_buttons_smoke1
|
| 62 |
+
tasks:
|
| 63 |
+
- dual_push_buttons
|
| 64 |
+
demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
|
| 65 |
+
episode_length: 25
|
| 66 |
+
cameras:
|
| 67 |
+
- over_shoulder_left
|
| 68 |
+
- over_shoulder_right
|
| 69 |
+
- overhead
|
| 70 |
+
- wrist_right
|
| 71 |
+
- wrist_left
|
| 72 |
+
- front
|
| 73 |
+
camera_resolution:
|
| 74 |
+
- 256
|
| 75 |
+
- 256
|
| 76 |
+
scene_bounds:
|
| 77 |
+
- -0.3
|
| 78 |
+
- -0.5
|
| 79 |
+
- 0.6
|
| 80 |
+
- 0.7
|
| 81 |
+
- 0.5
|
| 82 |
+
- 1.6
|
| 83 |
+
include_lang_goal_in_obs: true
|
| 84 |
+
time_in_state: true
|
| 85 |
+
headless: true
|
| 86 |
+
gripper_mode: BimanualDiscrete
|
| 87 |
+
arm_action_mode: BimanualEndEffectorPoseViaPlanning
|
| 88 |
+
action_mode: BimanualMoveArmThenGripper
|
| 89 |
+
framework:
|
| 90 |
+
tensorboard_logging: true
|
| 91 |
+
csv_logging: true
|
| 92 |
+
gpu: 0
|
| 93 |
+
logdir: /workspace/baselines/AnyBimanual_release_eval_live
|
| 94 |
+
start_seed: 0
|
| 95 |
+
record_every_n: 5
|
| 96 |
+
eval_envs: 1
|
| 97 |
+
eval_from_eps_number: 0
|
| 98 |
+
eval_episodes: 5
|
| 99 |
+
eval_type: 60000
|
| 100 |
+
eval_save_metrics: true
|
| 101 |
+
cinematic_recorder:
|
| 102 |
+
enabled: false
|
| 103 |
+
camera_resolution:
|
| 104 |
+
- 1280
|
| 105 |
+
- 720
|
| 106 |
+
fps: 30
|
| 107 |
+
rotate_speed: 0.005
|
| 108 |
+
save_path: /tmp/videos/
|
| 109 |
+
|
| 110 |
+
[2026-03-31 23:03:30,615][root][INFO] - Using env device cuda:0.
|
| 111 |
+
[2026-03-31 23:03:30,617][root][INFO] - Evaluating seed 0.
|
| 112 |
+
[2026-03-31 23:03:30,618][root][INFO] - Using method PERACT_BC with type leader_follower
|
| 113 |
+
Weight: [60000]
|
| 114 |
+
[03/31/26 23:04:12] INFO INFO:root:eval_env: _independent_env_runner.py:131
|
| 115 |
+
Launching env.
|
| 116 |
+
INFO INFO:root:Agent _independent_env_runner.py:134
|
| 117 |
+
information:
|
| 118 |
+
INFO INFO:root:<yarr.agen _independent_env_runner.py:135
|
| 119 |
+
ts.agent.LeaderFollo
|
| 120 |
+
werAgent object at
|
| 121 |
+
0x757414ac38e0>
|
| 122 |
+
[03/31/26 23:04:14] INFO INFO:root:Using dual panda robot environment.py:117
|
| 123 |
+
INFO INFO:root:Setting control arm_action_modes.py:79
|
| 124 |
+
mode for both robots
|
| 125 |
+
WARNING WARNING:root:not sure how task_environment.py:57
|
| 126 |
+
_robot_shapes are used is
|
| 127 |
+
used.
|
| 128 |
+
INFO INFO:root:Evaluating _independent_env_runner.py:165
|
| 129 |
+
weight 60000
|
| 130 |
+
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
|
| 131 |
+
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
|
| 132 |
+
INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 133 |
+
Starting episode 0,
|
| 134 |
+
seed 0.
|
| 135 |
+
[03/31/26 23:04:45] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 136 |
+
left=2)
|
| 137 |
+
Evaluating bimanual_dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
|
| 138 |
+
[03/31/26 23:05:21] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 139 |
+
Starting episode 1,
|
| 140 |
+
seed 1.
|
| 141 |
+
[03/31/26 23:06:00] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 142 |
+
left=2)
|
| 143 |
+
Evaluating bimanual_dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons
|
| 144 |
+
[03/31/26 23:06:28] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 145 |
+
Starting episode 2,
|
| 146 |
+
seed 2.
|
| 147 |
+
[03/31/26 23:07:02] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 148 |
+
left=2)
|
| 149 |
+
Evaluating bimanual_dual_push_buttons | Episode 2 | Score: 100.0 | Lang Goal: push the violet and the blue buttons
|
| 150 |
+
[03/31/26 23:07:17] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 151 |
+
Starting episode 3,
|
| 152 |
+
seed 3.
|
| 153 |
+
[03/31/26 23:07:50] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 154 |
+
left=2)
|
| 155 |
+
Evaluating bimanual_dual_push_buttons | Episode 3 | Score: 100.0 | Lang Goal: push the green and the violet buttons
|
| 156 |
+
[03/31/26 23:07:58] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 157 |
+
Starting episode 4,
|
| 158 |
+
seed 4.
|
| 159 |
+
[03/31/26 23:08:38] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 160 |
+
left=2)
|
| 161 |
+
Evaluating bimanual_dual_push_buttons | Episode 4 | Score: 100.0 | Lang Goal: push the olive and the violet buttons
|
| 162 |
+
Finished bimanual_dual_push_buttons | Final Score: 60.0
|
| 163 |
+
|
| 164 |
+
moviepy is installed, but can't import moviepy.editor. Some packages could be missing [imageio, requests]
|
| 165 |
+
[03/31/26 23:09:00] INFO INFO:root:Finished _independent_env_runner.py:293
|
| 166 |
+
evaluation.
|
| 167 |
+
[CoppeliaSim:loadinfo] done.
|
reports/anybimanual_anchor_bridge/adapter_noop_ep5/summary.json
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"adapter_mode": "adapter_noop",
|
| 3 |
+
"task_name": "perlf_release_dual_push_buttons_smoke1",
|
| 4 |
+
"tasks": [
|
| 5 |
+
"dual_push_buttons"
|
| 6 |
+
],
|
| 7 |
+
"task_families": [
|
| 8 |
+
"generic"
|
| 9 |
+
],
|
| 10 |
+
"passthrough_only": true,
|
| 11 |
+
"passthrough_reason": "generic_task_family",
|
| 12 |
+
"episodes_requested": 5,
|
| 13 |
+
"episode_scores": [
|
| 14 |
+
0.0,
|
| 15 |
+
0.0,
|
| 16 |
+
100.0,
|
| 17 |
+
100.0,
|
| 18 |
+
100.0
|
| 19 |
+
],
|
| 20 |
+
"mean_score": 60.0,
|
| 21 |
+
"final_score": 60.0,
|
| 22 |
+
"subprocess_returncode": 0,
|
| 23 |
+
"command": [
|
| 24 |
+
"/workspace/envs/rlbench/bin/python",
|
| 25 |
+
"/workspace/third_party/AnyBimanual/eval.py",
|
| 26 |
+
"method=PERACT_BC",
|
| 27 |
+
"framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live",
|
| 28 |
+
"framework.start_seed=0",
|
| 29 |
+
"framework.eval_type=60000",
|
| 30 |
+
"framework.eval_episodes=5",
|
| 31 |
+
"framework.eval_envs=1",
|
| 32 |
+
"framework.gpu=0",
|
| 33 |
+
"rlbench.task_name=perlf_release_dual_push_buttons_smoke1",
|
| 34 |
+
"rlbench.tasks=[dual_push_buttons]",
|
| 35 |
+
"rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
|
| 36 |
+
"rlbench.headless=True",
|
| 37 |
+
"rlbench.gripper_mode=BimanualDiscrete",
|
| 38 |
+
"rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
|
| 39 |
+
"rlbench.action_mode=BimanualMoveArmThenGripper"
|
| 40 |
+
]
|
| 41 |
+
}
|
reports/anybimanual_anchor_bridge/trunk_only_ep25/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 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=25 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
|
reports/anybimanual_anchor_bridge/trunk_only_ep25/stderr.txt
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 2 |
+
The version_base parameter is not specified.
|
| 3 |
+
Please specify a compatability version level, or None.
|
| 4 |
+
Will assume defaults for version 1.1
|
| 5 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 6 |
+
/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
|
| 7 |
+
warnings.warn(msg, UserWarning)
|
| 8 |
+
/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_'.
|
| 9 |
+
See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
|
| 10 |
+
deprecation_warning(
|
| 11 |
+
/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.
|
| 12 |
+
See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
|
| 13 |
+
ret = run_job(
|
| 14 |
+
/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.
|
| 15 |
+
from pkg_resources import parse_version
|
| 16 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 17 |
+
The version_base parameter is not specified.
|
| 18 |
+
Please specify a compatability version level, or None.
|
| 19 |
+
Will assume defaults for version 1.1
|
| 20 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 21 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 22 |
+
The version_base parameter is not specified.
|
| 23 |
+
Please specify a compatability version level, or None.
|
| 24 |
+
Will assume defaults for version 1.1
|
| 25 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 26 |
+
/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.
|
| 27 |
+
from pkg_resources import parse_version
|
| 28 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 29 |
+
The version_base parameter is not specified.
|
| 30 |
+
Please specify a compatability version level, or None.
|
| 31 |
+
Will assume defaults for version 1.1
|
| 32 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 33 |
+
qt.qpa.plugin: Could not find the Qt platform plugin "xcb" in ""
|
| 34 |
+
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
|
| 35 |
+
|
| 36 |
+
[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]
|
reports/anybimanual_anchor_bridge/trunk_only_ep25/stdout.txt
ADDED
|
@@ -0,0 +1,121 @@
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[2026-03-31 23:32:28,801][root][INFO] -
|
| 2 |
+
method:
|
| 3 |
+
name: PERACT_BC
|
| 4 |
+
agent_type: leader_follower
|
| 5 |
+
robot_name: bimanual
|
| 6 |
+
image_crop_size: 64
|
| 7 |
+
bounds_offset:
|
| 8 |
+
- 0.15
|
| 9 |
+
voxel_sizes:
|
| 10 |
+
- 100
|
| 11 |
+
include_prev_layer: false
|
| 12 |
+
num_latents: 2048
|
| 13 |
+
latent_dim: 512
|
| 14 |
+
transformer_depth: 6
|
| 15 |
+
transformer_iterations: 1
|
| 16 |
+
cross_heads: 1
|
| 17 |
+
cross_dim_head: 64
|
| 18 |
+
latent_heads: 8
|
| 19 |
+
latent_dim_head: 64
|
| 20 |
+
pos_encoding_with_lang: true
|
| 21 |
+
conv_downsample: true
|
| 22 |
+
lang_fusion_type: seq
|
| 23 |
+
voxel_patch_size: 5
|
| 24 |
+
voxel_patch_stride: 5
|
| 25 |
+
final_dim: 64
|
| 26 |
+
low_dim_size: 4
|
| 27 |
+
input_dropout: 0.1
|
| 28 |
+
attn_dropout: 0.1
|
| 29 |
+
decoder_dropout: 0.0
|
| 30 |
+
lr: 0.0005
|
| 31 |
+
lr_scheduler: false
|
| 32 |
+
num_warmup_steps: 3000
|
| 33 |
+
optimizer: lamb
|
| 34 |
+
lambda_weight_l2: 1.0e-06
|
| 35 |
+
trans_loss_weight: 1.0
|
| 36 |
+
rot_loss_weight: 1.0
|
| 37 |
+
grip_loss_weight: 1.0
|
| 38 |
+
collision_loss_weight: 1.0
|
| 39 |
+
rotation_resolution: 5
|
| 40 |
+
activation: lrelu
|
| 41 |
+
norm: None
|
| 42 |
+
crop_augmentation: true
|
| 43 |
+
transform_augmentation:
|
| 44 |
+
apply_se3: true
|
| 45 |
+
aug_xyz:
|
| 46 |
+
- 0.125
|
| 47 |
+
- 0.125
|
| 48 |
+
- 0.125
|
| 49 |
+
aug_rpy:
|
| 50 |
+
- 0.0
|
| 51 |
+
- 0.0
|
| 52 |
+
- 45.0
|
| 53 |
+
aug_rot_resolution: ${method.rotation_resolution}
|
| 54 |
+
demo_augmentation: true
|
| 55 |
+
demo_augmentation_every_n: 10
|
| 56 |
+
no_skip_connection: false
|
| 57 |
+
no_perceiver: false
|
| 58 |
+
no_language: false
|
| 59 |
+
keypoint_method: heuristic
|
| 60 |
+
rlbench:
|
| 61 |
+
task_name: perlf_release_dual_push_buttons_smoke1
|
| 62 |
+
tasks:
|
| 63 |
+
- dual_push_buttons
|
| 64 |
+
demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
|
| 65 |
+
episode_length: 25
|
| 66 |
+
cameras:
|
| 67 |
+
- over_shoulder_left
|
| 68 |
+
- over_shoulder_right
|
| 69 |
+
- overhead
|
| 70 |
+
- wrist_right
|
| 71 |
+
- wrist_left
|
| 72 |
+
- front
|
| 73 |
+
camera_resolution:
|
| 74 |
+
- 256
|
| 75 |
+
- 256
|
| 76 |
+
scene_bounds:
|
| 77 |
+
- -0.3
|
| 78 |
+
- -0.5
|
| 79 |
+
- 0.6
|
| 80 |
+
- 0.7
|
| 81 |
+
- 0.5
|
| 82 |
+
- 1.6
|
| 83 |
+
include_lang_goal_in_obs: true
|
| 84 |
+
time_in_state: true
|
| 85 |
+
headless: true
|
| 86 |
+
gripper_mode: BimanualDiscrete
|
| 87 |
+
arm_action_mode: BimanualEndEffectorPoseViaPlanning
|
| 88 |
+
action_mode: BimanualMoveArmThenGripper
|
| 89 |
+
framework:
|
| 90 |
+
tensorboard_logging: true
|
| 91 |
+
csv_logging: true
|
| 92 |
+
gpu: 0
|
| 93 |
+
logdir: /workspace/baselines/AnyBimanual_release_eval_live
|
| 94 |
+
start_seed: 0
|
| 95 |
+
record_every_n: 5
|
| 96 |
+
eval_envs: 1
|
| 97 |
+
eval_from_eps_number: 0
|
| 98 |
+
eval_episodes: 25
|
| 99 |
+
eval_type: 60000
|
| 100 |
+
eval_save_metrics: true
|
| 101 |
+
cinematic_recorder:
|
| 102 |
+
enabled: false
|
| 103 |
+
camera_resolution:
|
| 104 |
+
- 1280
|
| 105 |
+
- 720
|
| 106 |
+
fps: 30
|
| 107 |
+
rotate_speed: 0.005
|
| 108 |
+
save_path: /tmp/videos/
|
| 109 |
+
|
| 110 |
+
[2026-03-31 23:32:28,811][root][INFO] - Using env device cuda:0.
|
| 111 |
+
[2026-03-31 23:32:28,812][root][INFO] - Evaluating seed 0.
|
| 112 |
+
[2026-03-31 23:32:28,812][root][INFO] - Using method PERACT_BC with type leader_follower
|
| 113 |
+
Weight: [60000]
|
| 114 |
+
[03/31/26 23:33:05] INFO INFO:root:eval_env: _independent_env_runner.py:131
|
| 115 |
+
Launching env.
|
| 116 |
+
INFO INFO:root:Agent _independent_env_runner.py:134
|
| 117 |
+
information:
|
| 118 |
+
INFO INFO:root:<yarr.agen _independent_env_runner.py:135
|
| 119 |
+
ts.agent.LeaderFollo
|
| 120 |
+
werAgent object at
|
| 121 |
+
0x77975ba9b970>
|
reports/anybimanual_anchor_bridge/trunk_only_ep25/summary.json
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"adapter_mode": "trunk_only",
|
| 3 |
+
"task_name": "perlf_release_dual_push_buttons_smoke1",
|
| 4 |
+
"tasks": [
|
| 5 |
+
"dual_push_buttons"
|
| 6 |
+
],
|
| 7 |
+
"task_families": [
|
| 8 |
+
"generic"
|
| 9 |
+
],
|
| 10 |
+
"passthrough_only": true,
|
| 11 |
+
"passthrough_reason": "generic_task_family",
|
| 12 |
+
"episodes_requested": 25,
|
| 13 |
+
"episode_scores": [],
|
| 14 |
+
"mean_score": 0.0,
|
| 15 |
+
"final_score": null,
|
| 16 |
+
"subprocess_returncode": 0,
|
| 17 |
+
"command": [
|
| 18 |
+
"/workspace/envs/rlbench/bin/python",
|
| 19 |
+
"/workspace/third_party/AnyBimanual/eval.py",
|
| 20 |
+
"method=PERACT_BC",
|
| 21 |
+
"framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live",
|
| 22 |
+
"framework.start_seed=0",
|
| 23 |
+
"framework.eval_type=60000",
|
| 24 |
+
"framework.eval_episodes=25",
|
| 25 |
+
"framework.eval_envs=1",
|
| 26 |
+
"framework.gpu=0",
|
| 27 |
+
"rlbench.task_name=perlf_release_dual_push_buttons_smoke1",
|
| 28 |
+
"rlbench.tasks=[dual_push_buttons]",
|
| 29 |
+
"rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
|
| 30 |
+
"rlbench.headless=True",
|
| 31 |
+
"rlbench.gripper_mode=BimanualDiscrete",
|
| 32 |
+
"rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
|
| 33 |
+
"rlbench.action_mode=BimanualMoveArmThenGripper"
|
| 34 |
+
]
|
| 35 |
+
}
|
reports/anybimanual_anchor_bridge/trunk_only_ep5/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 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
|
reports/anybimanual_anchor_bridge/trunk_only_ep5/stderr.txt
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 2 |
+
The version_base parameter is not specified.
|
| 3 |
+
Please specify a compatability version level, or None.
|
| 4 |
+
Will assume defaults for version 1.1
|
| 5 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 6 |
+
/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
|
| 7 |
+
warnings.warn(msg, UserWarning)
|
| 8 |
+
/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_'.
|
| 9 |
+
See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
|
| 10 |
+
deprecation_warning(
|
| 11 |
+
/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.
|
| 12 |
+
See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
|
| 13 |
+
ret = run_job(
|
| 14 |
+
/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.
|
| 15 |
+
from pkg_resources import parse_version
|
| 16 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 17 |
+
The version_base parameter is not specified.
|
| 18 |
+
Please specify a compatability version level, or None.
|
| 19 |
+
Will assume defaults for version 1.1
|
| 20 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 21 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 22 |
+
The version_base parameter is not specified.
|
| 23 |
+
Please specify a compatability version level, or None.
|
| 24 |
+
Will assume defaults for version 1.1
|
| 25 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 26 |
+
/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.
|
| 27 |
+
from pkg_resources import parse_version
|
| 28 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 29 |
+
The version_base parameter is not specified.
|
| 30 |
+
Please specify a compatability version level, or None.
|
| 31 |
+
Will assume defaults for version 1.1
|
| 32 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 33 |
+
/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.)
|
| 34 |
+
prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}
|
| 35 |
+
[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]
|
reports/anybimanual_anchor_bridge/trunk_only_ep5/stdout.txt
ADDED
|
@@ -0,0 +1,167 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[2026-03-31 22:50:11,766][root][INFO] -
|
| 2 |
+
method:
|
| 3 |
+
name: PERACT_BC
|
| 4 |
+
agent_type: leader_follower
|
| 5 |
+
robot_name: bimanual
|
| 6 |
+
image_crop_size: 64
|
| 7 |
+
bounds_offset:
|
| 8 |
+
- 0.15
|
| 9 |
+
voxel_sizes:
|
| 10 |
+
- 100
|
| 11 |
+
include_prev_layer: false
|
| 12 |
+
num_latents: 2048
|
| 13 |
+
latent_dim: 512
|
| 14 |
+
transformer_depth: 6
|
| 15 |
+
transformer_iterations: 1
|
| 16 |
+
cross_heads: 1
|
| 17 |
+
cross_dim_head: 64
|
| 18 |
+
latent_heads: 8
|
| 19 |
+
latent_dim_head: 64
|
| 20 |
+
pos_encoding_with_lang: true
|
| 21 |
+
conv_downsample: true
|
| 22 |
+
lang_fusion_type: seq
|
| 23 |
+
voxel_patch_size: 5
|
| 24 |
+
voxel_patch_stride: 5
|
| 25 |
+
final_dim: 64
|
| 26 |
+
low_dim_size: 4
|
| 27 |
+
input_dropout: 0.1
|
| 28 |
+
attn_dropout: 0.1
|
| 29 |
+
decoder_dropout: 0.0
|
| 30 |
+
lr: 0.0005
|
| 31 |
+
lr_scheduler: false
|
| 32 |
+
num_warmup_steps: 3000
|
| 33 |
+
optimizer: lamb
|
| 34 |
+
lambda_weight_l2: 1.0e-06
|
| 35 |
+
trans_loss_weight: 1.0
|
| 36 |
+
rot_loss_weight: 1.0
|
| 37 |
+
grip_loss_weight: 1.0
|
| 38 |
+
collision_loss_weight: 1.0
|
| 39 |
+
rotation_resolution: 5
|
| 40 |
+
activation: lrelu
|
| 41 |
+
norm: None
|
| 42 |
+
crop_augmentation: true
|
| 43 |
+
transform_augmentation:
|
| 44 |
+
apply_se3: true
|
| 45 |
+
aug_xyz:
|
| 46 |
+
- 0.125
|
| 47 |
+
- 0.125
|
| 48 |
+
- 0.125
|
| 49 |
+
aug_rpy:
|
| 50 |
+
- 0.0
|
| 51 |
+
- 0.0
|
| 52 |
+
- 45.0
|
| 53 |
+
aug_rot_resolution: ${method.rotation_resolution}
|
| 54 |
+
demo_augmentation: true
|
| 55 |
+
demo_augmentation_every_n: 10
|
| 56 |
+
no_skip_connection: false
|
| 57 |
+
no_perceiver: false
|
| 58 |
+
no_language: false
|
| 59 |
+
keypoint_method: heuristic
|
| 60 |
+
rlbench:
|
| 61 |
+
task_name: perlf_release_dual_push_buttons_smoke1
|
| 62 |
+
tasks:
|
| 63 |
+
- dual_push_buttons
|
| 64 |
+
demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
|
| 65 |
+
episode_length: 25
|
| 66 |
+
cameras:
|
| 67 |
+
- over_shoulder_left
|
| 68 |
+
- over_shoulder_right
|
| 69 |
+
- overhead
|
| 70 |
+
- wrist_right
|
| 71 |
+
- wrist_left
|
| 72 |
+
- front
|
| 73 |
+
camera_resolution:
|
| 74 |
+
- 256
|
| 75 |
+
- 256
|
| 76 |
+
scene_bounds:
|
| 77 |
+
- -0.3
|
| 78 |
+
- -0.5
|
| 79 |
+
- 0.6
|
| 80 |
+
- 0.7
|
| 81 |
+
- 0.5
|
| 82 |
+
- 1.6
|
| 83 |
+
include_lang_goal_in_obs: true
|
| 84 |
+
time_in_state: true
|
| 85 |
+
headless: true
|
| 86 |
+
gripper_mode: BimanualDiscrete
|
| 87 |
+
arm_action_mode: BimanualEndEffectorPoseViaPlanning
|
| 88 |
+
action_mode: BimanualMoveArmThenGripper
|
| 89 |
+
framework:
|
| 90 |
+
tensorboard_logging: true
|
| 91 |
+
csv_logging: true
|
| 92 |
+
gpu: 0
|
| 93 |
+
logdir: /workspace/baselines/AnyBimanual_release_eval_live
|
| 94 |
+
start_seed: 0
|
| 95 |
+
record_every_n: 5
|
| 96 |
+
eval_envs: 1
|
| 97 |
+
eval_from_eps_number: 0
|
| 98 |
+
eval_episodes: 5
|
| 99 |
+
eval_type: 60000
|
| 100 |
+
eval_save_metrics: true
|
| 101 |
+
cinematic_recorder:
|
| 102 |
+
enabled: false
|
| 103 |
+
camera_resolution:
|
| 104 |
+
- 1280
|
| 105 |
+
- 720
|
| 106 |
+
fps: 30
|
| 107 |
+
rotate_speed: 0.005
|
| 108 |
+
save_path: /tmp/videos/
|
| 109 |
+
|
| 110 |
+
[2026-03-31 22:50:11,776][root][INFO] - Using env device cuda:0.
|
| 111 |
+
[2026-03-31 22:50:11,777][root][INFO] - Evaluating seed 0.
|
| 112 |
+
[2026-03-31 22:50:11,777][root][INFO] - Using method PERACT_BC with type leader_follower
|
| 113 |
+
Weight: [60000]
|
| 114 |
+
[03/31/26 22:50:48] INFO INFO:root:eval_env: _independent_env_runner.py:131
|
| 115 |
+
Launching env.
|
| 116 |
+
INFO INFO:root:Agent _independent_env_runner.py:134
|
| 117 |
+
information:
|
| 118 |
+
INFO INFO:root:<yarr.agen _independent_env_runner.py:135
|
| 119 |
+
ts.agent.LeaderFollo
|
| 120 |
+
werAgent object at
|
| 121 |
+
0x72a30c833970>
|
| 122 |
+
[03/31/26 22:50:49] INFO INFO:root:Using dual panda robot environment.py:117
|
| 123 |
+
INFO INFO:root:Setting control arm_action_modes.py:79
|
| 124 |
+
mode for both robots
|
| 125 |
+
WARNING WARNING:root:not sure how task_environment.py:57
|
| 126 |
+
_robot_shapes are used is
|
| 127 |
+
used.
|
| 128 |
+
INFO INFO:root:Evaluating _independent_env_runner.py:165
|
| 129 |
+
weight 60000
|
| 130 |
+
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
|
| 131 |
+
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
|
| 132 |
+
[03/31/26 22:50:50] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 133 |
+
Starting episode 0,
|
| 134 |
+
seed 0.
|
| 135 |
+
[03/31/26 22:51:22] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 136 |
+
left=2)
|
| 137 |
+
Evaluating bimanual_dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
|
| 138 |
+
[03/31/26 22:51:56] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 139 |
+
Starting episode 1,
|
| 140 |
+
seed 1.
|
| 141 |
+
[03/31/26 22:52:40] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 142 |
+
left=2)
|
| 143 |
+
Evaluating bimanual_dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons
|
| 144 |
+
[03/31/26 22:53:06] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 145 |
+
Starting episode 2,
|
| 146 |
+
seed 2.
|
| 147 |
+
[03/31/26 22:53:40] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 148 |
+
left=2)
|
| 149 |
+
Evaluating bimanual_dual_push_buttons | Episode 2 | Score: 100.0 | Lang Goal: push the violet and the blue buttons
|
| 150 |
+
[03/31/26 22:54:10] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 151 |
+
Starting episode 3,
|
| 152 |
+
seed 3.
|
| 153 |
+
[03/31/26 22:54:44] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 154 |
+
left=2)
|
| 155 |
+
Evaluating bimanual_dual_push_buttons | Episode 3 | Score: 0.0 | Lang Goal: push the green and the violet buttons
|
| 156 |
+
[03/31/26 22:55:18] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 157 |
+
Starting episode 4,
|
| 158 |
+
seed 4.
|
| 159 |
+
[03/31/26 22:56:00] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 160 |
+
left=2)
|
| 161 |
+
Evaluating bimanual_dual_push_buttons | Episode 4 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
|
| 162 |
+
Finished bimanual_dual_push_buttons | Final Score: 20.0
|
| 163 |
+
|
| 164 |
+
moviepy is installed, but can't import moviepy.editor. Some packages could be missing [imageio, requests]
|
| 165 |
+
[03/31/26 22:56:42] INFO INFO:root:Finished _independent_env_runner.py:293
|
| 166 |
+
evaluation.
|
| 167 |
+
[CoppeliaSim:loadinfo] done.
|
reports/anybimanual_anchor_bridge/trunk_only_ep5/summary.json
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
|
|
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|
|
|
|
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|
|
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|
|
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|
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|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"adapter_mode": "trunk_only",
|
| 3 |
+
"task_name": "perlf_release_dual_push_buttons_smoke1",
|
| 4 |
+
"tasks": [
|
| 5 |
+
"dual_push_buttons"
|
| 6 |
+
],
|
| 7 |
+
"task_families": [
|
| 8 |
+
"generic"
|
| 9 |
+
],
|
| 10 |
+
"passthrough_only": true,
|
| 11 |
+
"passthrough_reason": "generic_task_family",
|
| 12 |
+
"episodes_requested": 5,
|
| 13 |
+
"episode_scores": [
|
| 14 |
+
0.0,
|
| 15 |
+
0.0,
|
| 16 |
+
100.0,
|
| 17 |
+
0.0,
|
| 18 |
+
0.0,
|
| 19 |
+
20.0
|
| 20 |
+
],
|
| 21 |
+
"mean_score": 20.0,
|
| 22 |
+
"subprocess_returncode": 0,
|
| 23 |
+
"command": [
|
| 24 |
+
"/workspace/envs/rlbench/bin/python",
|
| 25 |
+
"/workspace/third_party/AnyBimanual/eval.py",
|
| 26 |
+
"method=PERACT_BC",
|
| 27 |
+
"framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live",
|
| 28 |
+
"framework.start_seed=0",
|
| 29 |
+
"framework.eval_type=60000",
|
| 30 |
+
"framework.eval_episodes=5",
|
| 31 |
+
"framework.eval_envs=1",
|
| 32 |
+
"framework.gpu=0",
|
| 33 |
+
"rlbench.task_name=perlf_release_dual_push_buttons_smoke1",
|
| 34 |
+
"rlbench.tasks=[dual_push_buttons]",
|
| 35 |
+
"rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
|
| 36 |
+
"rlbench.headless=True",
|
| 37 |
+
"rlbench.gripper_mode=BimanualDiscrete",
|
| 38 |
+
"rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
|
| 39 |
+
"rlbench.action_mode=BimanualMoveArmThenGripper"
|
| 40 |
+
]
|
| 41 |
+
}
|
reports/maniskill_bag_bridge_eval_less_bonus_seed17/adapter_active_ft_seed17.json
ADDED
|
@@ -0,0 +1,509 @@
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
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|
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|
|
|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
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|
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|
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|
|
|
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|
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|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"track_id": "bag_track",
|
| 3 |
+
"suite": "maniskill3",
|
| 4 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 5 |
+
"role": "target",
|
| 6 |
+
"adapter_mode": "adapter_active_ft",
|
| 7 |
+
"episodes": 50,
|
| 8 |
+
"successes": [
|
| 9 |
+
1,
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
1,
|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
+
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|
| 18 |
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|
| 19 |
+
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|
| 20 |
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|
| 21 |
+
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|
| 22 |
+
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|
| 23 |
+
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|
| 24 |
+
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|
| 25 |
+
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|
| 26 |
+
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|
| 27 |
+
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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],
|
| 60 |
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"success_rate": 0.48,
|
| 61 |
+
"intervention_rate": 1.0,
|
| 62 |
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"non_base_selection_rate": 1.0,
|
| 63 |
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"steps_to_first_reveal_or_access": 1.0,
|
| 64 |
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"steps_to_retrieve": 4.0,
|
| 65 |
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"disturbance_proxy": 0.0,
|
| 66 |
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"episode_records": [
|
| 67 |
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{
|
| 68 |
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"episode_seed": 172000,
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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"first_retrieve_step": null,
|
| 73 |
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"episode_disturbance": 0.0
|
| 74 |
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},
|
| 75 |
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{
|
| 76 |
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"episode_seed": 172001,
|
| 77 |
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"success": true,
|
| 78 |
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"steps": 1,
|
| 79 |
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|
| 80 |
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"first_retrieve_step": null,
|
| 81 |
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"episode_disturbance": 0.0
|
| 82 |
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},
|
| 83 |
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{
|
| 84 |
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"episode_seed": 172002,
|
| 85 |
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"success": true,
|
| 86 |
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"steps": 1,
|
| 87 |
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|
| 88 |
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|
| 89 |
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"episode_disturbance": 0.0
|
| 90 |
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},
|
| 91 |
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{
|
| 92 |
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"episode_seed": 172003,
|
| 93 |
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"success": true,
|
| 94 |
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"steps": 1,
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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},
|
| 99 |
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{
|
| 100 |
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"episode_seed": 172004,
|
| 101 |
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"success": true,
|
| 102 |
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"steps": 1,
|
| 103 |
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|
| 104 |
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|
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|
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|
| 470 |
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|
| 471 |
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|
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|
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|
| 474 |
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|
| 475 |
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|
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|
| 477 |
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|
| 478 |
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|
| 479 |
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"left",
|
| 480 |
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"right"
|
| 481 |
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|
| 482 |
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|
| 483 |
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|
| 484 |
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|
| 485 |
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|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 488 |
+
"train_spec": {
|
| 489 |
+
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|
| 490 |
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|
| 491 |
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|
| 492 |
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|
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|
| 494 |
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|
| 495 |
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|
| 496 |
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|
| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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"batch_size": 4,
|
| 501 |
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|
| 502 |
+
"early_stopping_metric": "val_total",
|
| 503 |
+
"max_gradient_steps": 114,
|
| 504 |
+
"unfreeze_scope": "fusion_memory_decoder",
|
| 505 |
+
"dataset_split_id": "bag_bridge_smoke_v1_seed17",
|
| 506 |
+
"same_data_policy": true,
|
| 507 |
+
"same_init_policy": true
|
| 508 |
+
}
|
| 509 |
+
}
|
reports/maniskill_bag_bridge_eval_less_bonus_seed17/adapter_noop_seed17.json
ADDED
|
@@ -0,0 +1,488 @@
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|
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{
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| 310 |
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|
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|
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|
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{
|
| 316 |
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"episode_seed": 172031,
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|
| 318 |
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|
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|
| 320 |
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|
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|
| 322 |
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| 324 |
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| 326 |
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|
| 331 |
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{
|
| 332 |
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"episode_seed": 172033,
|
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|
| 334 |
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{
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"episode_seed": 172034,
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| 347 |
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{
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| 350 |
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},
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| 355 |
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{
|
| 356 |
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"episode_seed": 172036,
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|
| 358 |
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| 359 |
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|
| 360 |
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{
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"episode_seed": 172037,
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| 370 |
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| 371 |
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{
|
| 372 |
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"episode_seed": 172038,
|
| 373 |
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|
| 374 |
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|
| 377 |
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| 378 |
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},
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| 379 |
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{
|
| 380 |
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"episode_seed": 172039,
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| 381 |
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| 382 |
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| 383 |
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|
| 384 |
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|
| 385 |
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|
| 386 |
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},
|
| 387 |
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{
|
| 388 |
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"episode_seed": 172040,
|
| 389 |
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"success": false,
|
| 390 |
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"steps": 4,
|
| 391 |
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|
| 392 |
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|
| 393 |
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"episode_disturbance": 0.0
|
| 394 |
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},
|
| 395 |
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{
|
| 396 |
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"episode_seed": 172041,
|
| 397 |
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"success": false,
|
| 398 |
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"steps": 4,
|
| 399 |
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|
| 400 |
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"first_retrieve_step": null,
|
| 401 |
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"episode_disturbance": 0.0
|
| 402 |
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},
|
| 403 |
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{
|
| 404 |
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"episode_seed": 172042,
|
| 405 |
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|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
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|
| 410 |
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},
|
| 411 |
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{
|
| 412 |
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"episode_seed": 172043,
|
| 413 |
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|
| 414 |
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|
| 415 |
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|
| 416 |
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|
| 417 |
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|
| 418 |
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},
|
| 419 |
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{
|
| 420 |
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|
| 421 |
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|
| 422 |
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|
| 423 |
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|
| 424 |
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|
| 425 |
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|
| 426 |
+
},
|
| 427 |
+
{
|
| 428 |
+
"episode_seed": 172045,
|
| 429 |
+
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|
| 430 |
+
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|
| 431 |
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|
| 432 |
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|
| 433 |
+
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|
| 434 |
+
},
|
| 435 |
+
{
|
| 436 |
+
"episode_seed": 172046,
|
| 437 |
+
"success": false,
|
| 438 |
+
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|
| 439 |
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|
| 440 |
+
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|
| 441 |
+
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|
| 442 |
+
},
|
| 443 |
+
{
|
| 444 |
+
"episode_seed": 172047,
|
| 445 |
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"success": false,
|
| 446 |
+
"steps": 4,
|
| 447 |
+
"first_reveal_step": null,
|
| 448 |
+
"first_retrieve_step": null,
|
| 449 |
+
"episode_disturbance": 0.0
|
| 450 |
+
},
|
| 451 |
+
{
|
| 452 |
+
"episode_seed": 172048,
|
| 453 |
+
"success": false,
|
| 454 |
+
"steps": 4,
|
| 455 |
+
"first_reveal_step": null,
|
| 456 |
+
"first_retrieve_step": null,
|
| 457 |
+
"episode_disturbance": 0.0
|
| 458 |
+
},
|
| 459 |
+
{
|
| 460 |
+
"episode_seed": 172049,
|
| 461 |
+
"success": false,
|
| 462 |
+
"steps": 4,
|
| 463 |
+
"first_reveal_step": null,
|
| 464 |
+
"first_retrieve_step": null,
|
| 465 |
+
"episode_disturbance": 0.0
|
| 466 |
+
}
|
| 467 |
+
],
|
| 468 |
+
"eval_protocol": {
|
| 469 |
+
"track_id": "bag_track",
|
| 470 |
+
"suite": "maniskill3",
|
| 471 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 472 |
+
"role": "target",
|
| 473 |
+
"eval_mode": "adapter_noop",
|
| 474 |
+
"seed": 17,
|
| 475 |
+
"episodes": 50,
|
| 476 |
+
"resolution": 224,
|
| 477 |
+
"cameras": [
|
| 478 |
+
"front",
|
| 479 |
+
"left",
|
| 480 |
+
"right"
|
| 481 |
+
],
|
| 482 |
+
"observation_stack": "rgb_triplicate_zero_depth",
|
| 483 |
+
"action_horizon": 8,
|
| 484 |
+
"action_space": "widowx_delta_pose",
|
| 485 |
+
"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone."
|
| 488 |
+
}
|
reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.json
ADDED
|
@@ -0,0 +1,62 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"anchor_pass": true,
|
| 3 |
+
"available_tracks": [
|
| 4 |
+
"bag_track"
|
| 5 |
+
],
|
| 6 |
+
"ci_above_zero_tracks": [],
|
| 7 |
+
"headline_pass": false,
|
| 8 |
+
"package_name": "public_reveal_retrieve_package_v1",
|
| 9 |
+
"sign_of_life_pass": false,
|
| 10 |
+
"sign_of_life_track_count": 1,
|
| 11 |
+
"sign_of_life_tracks": [
|
| 12 |
+
"bag_track"
|
| 13 |
+
],
|
| 14 |
+
"target_macro_average_delta": 0.1599999964237213,
|
| 15 |
+
"tracks": {
|
| 16 |
+
"bag_track": {
|
| 17 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 18 |
+
"delta_active_vs_trunk": 0.1599999964237213,
|
| 19 |
+
"delta_active_vs_trunk_ci95": [
|
| 20 |
+
-0.03999999165534973,
|
| 21 |
+
0.3400000333786011
|
| 22 |
+
],
|
| 23 |
+
"delta_noop_vs_trunk": -0.3199999928474426,
|
| 24 |
+
"modes": {
|
| 25 |
+
"adapter_active_ft": {
|
| 26 |
+
"disturbance_proxy": 0.0,
|
| 27 |
+
"intervention_rate": 1.0,
|
| 28 |
+
"mean_success": 0.47999998927116394,
|
| 29 |
+
"non_base_selection_rate": 1.0,
|
| 30 |
+
"num_runs": 1,
|
| 31 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 32 |
+
"steps_to_retrieve": 4.0
|
| 33 |
+
},
|
| 34 |
+
"adapter_noop": {
|
| 35 |
+
"disturbance_proxy": 0.0,
|
| 36 |
+
"intervention_rate": 0.0,
|
| 37 |
+
"mean_success": 0.0,
|
| 38 |
+
"non_base_selection_rate": 0.0,
|
| 39 |
+
"num_runs": 1,
|
| 40 |
+
"steps_to_first_reveal_or_access": 4.0,
|
| 41 |
+
"steps_to_retrieve": 4.0
|
| 42 |
+
},
|
| 43 |
+
"trunk_only_ft": {
|
| 44 |
+
"disturbance_proxy": 0.0,
|
| 45 |
+
"intervention_rate": 0.0,
|
| 46 |
+
"mean_success": 0.3199999928474426,
|
| 47 |
+
"non_base_selection_rate": 0.0,
|
| 48 |
+
"num_runs": 1,
|
| 49 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 50 |
+
"steps_to_retrieve": 4.0
|
| 51 |
+
}
|
| 52 |
+
},
|
| 53 |
+
"notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 54 |
+
"public_source": "ManiSkill public scene proxy: PutEggplantInBasketScene-v1",
|
| 55 |
+
"role": "target",
|
| 56 |
+
"signs_of_life": true,
|
| 57 |
+
"suite": "maniskill3",
|
| 58 |
+
"target_behavior": "retrieve the target object from inside the basket and stage it outside the basket",
|
| 59 |
+
"task_family": "bag_retrieval_proxy"
|
| 60 |
+
}
|
| 61 |
+
}
|
| 62 |
+
}
|
reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.md
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# ManiSkill Bag Retrieval Smoke Summary
|
| 2 |
+
|
| 3 |
+
- benchmark_task: PutEggplantInBasketRetrievalProxy-v1
|
| 4 |
+
- target_macro_average_delta: 0.160
|
| 5 |
+
- headline_pass: False
|
| 6 |
+
- sign_of_life_pass: False
|
| 7 |
+
|
| 8 |
+
## bag_track
|
| 9 |
+
- delta_active_vs_trunk: 0.160
|
| 10 |
+
- delta_noop_vs_trunk: -0.320
|
| 11 |
+
- signs_of_life: True
|
| 12 |
+
- delta_active_vs_trunk_ci95: [-0.040, 0.340]
|
| 13 |
+
- trunk_only_ft: mean_success=0.320
|
| 14 |
+
- adapter_noop: mean_success=0.000
|
| 15 |
+
- adapter_active_ft: mean_success=0.480
|
reports/maniskill_bag_bridge_eval_less_bonus_seed17/trunk_only_ft_seed17.json
ADDED
|
@@ -0,0 +1,509 @@
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|
| 1 |
+
{
|
| 2 |
+
"track_id": "bag_track",
|
| 3 |
+
"suite": "maniskill3",
|
| 4 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 5 |
+
"role": "target",
|
| 6 |
+
"adapter_mode": "trunk_only_ft",
|
| 7 |
+
"episodes": 50,
|
| 8 |
+
"successes": [
|
| 9 |
+
0,
|
| 10 |
+
0,
|
| 11 |
+
0,
|
| 12 |
+
1,
|
| 13 |
+
0,
|
| 14 |
+
0,
|
| 15 |
+
0,
|
| 16 |
+
0,
|
| 17 |
+
0,
|
| 18 |
+
1,
|
| 19 |
+
1,
|
| 20 |
+
0,
|
| 21 |
+
0,
|
| 22 |
+
1,
|
| 23 |
+
0,
|
| 24 |
+
0,
|
| 25 |
+
0,
|
| 26 |
+
0,
|
| 27 |
+
0,
|
| 28 |
+
0,
|
| 29 |
+
0,
|
| 30 |
+
0,
|
| 31 |
+
0,
|
| 32 |
+
0,
|
| 33 |
+
1,
|
| 34 |
+
1,
|
| 35 |
+
0,
|
| 36 |
+
0,
|
| 37 |
+
0,
|
| 38 |
+
0,
|
| 39 |
+
0,
|
| 40 |
+
1,
|
| 41 |
+
1,
|
| 42 |
+
1,
|
| 43 |
+
0,
|
| 44 |
+
0,
|
| 45 |
+
0,
|
| 46 |
+
1,
|
| 47 |
+
0,
|
| 48 |
+
0,
|
| 49 |
+
0,
|
| 50 |
+
1,
|
| 51 |
+
0,
|
| 52 |
+
0,
|
| 53 |
+
1,
|
| 54 |
+
1,
|
| 55 |
+
1,
|
| 56 |
+
1,
|
| 57 |
+
1,
|
| 58 |
+
0
|
| 59 |
+
],
|
| 60 |
+
"success_rate": 0.32,
|
| 61 |
+
"intervention_rate": 0.0,
|
| 62 |
+
"non_base_selection_rate": 0.0,
|
| 63 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 64 |
+
"steps_to_retrieve": 4.0,
|
| 65 |
+
"disturbance_proxy": 0.0,
|
| 66 |
+
"episode_records": [
|
| 67 |
+
{
|
| 68 |
+
"episode_seed": 172000,
|
| 69 |
+
"success": false,
|
| 70 |
+
"steps": 4,
|
| 71 |
+
"first_reveal_step": 1,
|
| 72 |
+
"first_retrieve_step": null,
|
| 73 |
+
"episode_disturbance": 0.0
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"episode_seed": 172001,
|
| 77 |
+
"success": false,
|
| 78 |
+
"steps": 4,
|
| 79 |
+
"first_reveal_step": 1,
|
| 80 |
+
"first_retrieve_step": null,
|
| 81 |
+
"episode_disturbance": 0.0
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"episode_seed": 172002,
|
| 85 |
+
"success": false,
|
| 86 |
+
"steps": 4,
|
| 87 |
+
"first_reveal_step": 1,
|
| 88 |
+
"first_retrieve_step": null,
|
| 89 |
+
"episode_disturbance": 0.0
|
| 90 |
+
},
|
| 91 |
+
{
|
| 92 |
+
"episode_seed": 172003,
|
| 93 |
+
"success": true,
|
| 94 |
+
"steps": 1,
|
| 95 |
+
"first_reveal_step": 1,
|
| 96 |
+
"first_retrieve_step": null,
|
| 97 |
+
"episode_disturbance": 0.0
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"episode_seed": 172004,
|
| 101 |
+
"success": false,
|
| 102 |
+
"steps": 4,
|
| 103 |
+
"first_reveal_step": 1,
|
| 104 |
+
"first_retrieve_step": null,
|
| 105 |
+
"episode_disturbance": 0.0
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"episode_seed": 172005,
|
| 109 |
+
"success": false,
|
| 110 |
+
"steps": 4,
|
| 111 |
+
"first_reveal_step": 1,
|
| 112 |
+
"first_retrieve_step": null,
|
| 113 |
+
"episode_disturbance": 0.0
|
| 114 |
+
},
|
| 115 |
+
{
|
| 116 |
+
"episode_seed": 172006,
|
| 117 |
+
"success": false,
|
| 118 |
+
"steps": 4,
|
| 119 |
+
"first_reveal_step": 1,
|
| 120 |
+
"first_retrieve_step": null,
|
| 121 |
+
"episode_disturbance": 0.0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"episode_seed": 172007,
|
| 125 |
+
"success": false,
|
| 126 |
+
"steps": 4,
|
| 127 |
+
"first_reveal_step": 1,
|
| 128 |
+
"first_retrieve_step": null,
|
| 129 |
+
"episode_disturbance": 0.0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"episode_seed": 172008,
|
| 133 |
+
"success": false,
|
| 134 |
+
"steps": 4,
|
| 135 |
+
"first_reveal_step": 1,
|
| 136 |
+
"first_retrieve_step": null,
|
| 137 |
+
"episode_disturbance": 0.0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"episode_seed": 172009,
|
| 141 |
+
"success": true,
|
| 142 |
+
"steps": 1,
|
| 143 |
+
"first_reveal_step": 1,
|
| 144 |
+
"first_retrieve_step": null,
|
| 145 |
+
"episode_disturbance": 0.0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"episode_seed": 172010,
|
| 149 |
+
"success": true,
|
| 150 |
+
"steps": 1,
|
| 151 |
+
"first_reveal_step": 1,
|
| 152 |
+
"first_retrieve_step": null,
|
| 153 |
+
"episode_disturbance": 0.0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"episode_seed": 172011,
|
| 157 |
+
"success": false,
|
| 158 |
+
"steps": 4,
|
| 159 |
+
"first_reveal_step": 1,
|
| 160 |
+
"first_retrieve_step": null,
|
| 161 |
+
"episode_disturbance": 0.0
|
| 162 |
+
},
|
| 163 |
+
{
|
| 164 |
+
"episode_seed": 172012,
|
| 165 |
+
"success": false,
|
| 166 |
+
"steps": 4,
|
| 167 |
+
"first_reveal_step": 1,
|
| 168 |
+
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|
| 169 |
+
"episode_disturbance": 0.0
|
| 170 |
+
},
|
| 171 |
+
{
|
| 172 |
+
"episode_seed": 172013,
|
| 173 |
+
"success": true,
|
| 174 |
+
"steps": 1,
|
| 175 |
+
"first_reveal_step": 1,
|
| 176 |
+
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|
| 177 |
+
"episode_disturbance": 0.0
|
| 178 |
+
},
|
| 179 |
+
{
|
| 180 |
+
"episode_seed": 172014,
|
| 181 |
+
"success": false,
|
| 182 |
+
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|
| 183 |
+
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|
| 184 |
+
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|
| 185 |
+
"episode_disturbance": 0.0
|
| 186 |
+
},
|
| 187 |
+
{
|
| 188 |
+
"episode_seed": 172015,
|
| 189 |
+
"success": false,
|
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|
| 470 |
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|
| 471 |
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|
| 472 |
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|
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|
| 474 |
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|
| 475 |
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|
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|
| 477 |
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|
| 478 |
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|
| 479 |
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"left",
|
| 480 |
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"right"
|
| 481 |
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|
| 482 |
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|
| 483 |
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|
| 484 |
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|
| 485 |
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"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 488 |
+
"train_spec": {
|
| 489 |
+
"track_id": "bag_track",
|
| 490 |
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"suite": "maniskill3",
|
| 491 |
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|
| 492 |
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|
| 493 |
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|
| 494 |
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|
| 495 |
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|
| 496 |
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"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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"batch_size": 4,
|
| 501 |
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"augmentations": "none",
|
| 502 |
+
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|
| 503 |
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|
| 504 |
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"unfreeze_scope": "fusion_memory_decoder",
|
| 505 |
+
"dataset_split_id": "bag_bridge_smoke_v1_seed17",
|
| 506 |
+
"same_data_policy": true,
|
| 507 |
+
"same_init_policy": true
|
| 508 |
+
}
|
| 509 |
+
}
|
reports/maniskill_bag_bridge_eval_less_bonus_seed23/adapter_active_ft_seed23.json
ADDED
|
@@ -0,0 +1,509 @@
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"eval_protocol": {
|
| 469 |
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|
| 470 |
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"suite": "maniskill3",
|
| 471 |
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"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 472 |
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"role": "target",
|
| 473 |
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|
| 474 |
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"seed": 17,
|
| 475 |
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|
| 476 |
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|
| 477 |
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|
| 478 |
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"front",
|
| 479 |
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"left",
|
| 480 |
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"right"
|
| 481 |
+
],
|
| 482 |
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"observation_stack": "rgb_triplicate_zero_depth",
|
| 483 |
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"action_horizon": 8,
|
| 484 |
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"action_space": "widowx_delta_pose",
|
| 485 |
+
"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 488 |
+
"train_spec": {
|
| 489 |
+
"track_id": "bag_track",
|
| 490 |
+
"suite": "maniskill3",
|
| 491 |
+
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|
| 492 |
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|
| 493 |
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"seed": 23,
|
| 494 |
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|
| 495 |
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|
| 496 |
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"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 497 |
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"optimizer": "adamw",
|
| 498 |
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"learning_rate": 0.0001,
|
| 499 |
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"lr_schedule": "constant",
|
| 500 |
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"batch_size": 4,
|
| 501 |
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"augmentations": "none",
|
| 502 |
+
"early_stopping_metric": "val_total",
|
| 503 |
+
"max_gradient_steps": 114,
|
| 504 |
+
"unfreeze_scope": "fusion_memory_decoder",
|
| 505 |
+
"dataset_split_id": "bag_bridge_smoke_v1_dataset_seed17",
|
| 506 |
+
"same_data_policy": true,
|
| 507 |
+
"same_init_policy": true
|
| 508 |
+
}
|
| 509 |
+
}
|
reports/maniskill_bag_bridge_eval_less_bonus_seed23/adapter_noop_seed23.json
ADDED
|
@@ -0,0 +1,488 @@
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| 390 |
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| 395 |
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| 396 |
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| 397 |
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| 398 |
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| 404 |
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| 411 |
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|
| 412 |
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| 413 |
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| 414 |
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| 416 |
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| 418 |
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| 419 |
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|
| 420 |
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| 421 |
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|
| 422 |
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| 423 |
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|
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|
| 426 |
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|
| 427 |
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|
| 428 |
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|
| 429 |
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|
| 430 |
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|
| 432 |
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|
| 433 |
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|
| 434 |
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|
| 435 |
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{
|
| 436 |
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|
| 437 |
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|
| 438 |
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|
| 439 |
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|
| 440 |
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|
| 441 |
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|
| 442 |
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|
| 443 |
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{
|
| 444 |
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|
| 445 |
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|
| 446 |
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|
| 447 |
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|
| 448 |
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|
| 449 |
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|
| 450 |
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},
|
| 451 |
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{
|
| 452 |
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"episode_seed": 172048,
|
| 453 |
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"success": false,
|
| 454 |
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|
| 455 |
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|
| 456 |
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|
| 457 |
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|
| 458 |
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},
|
| 459 |
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{
|
| 460 |
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|
| 461 |
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|
| 462 |
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|
| 463 |
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|
| 464 |
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|
| 465 |
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|
| 466 |
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}
|
| 467 |
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],
|
| 468 |
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"eval_protocol": {
|
| 469 |
+
"track_id": "bag_track",
|
| 470 |
+
"suite": "maniskill3",
|
| 471 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 472 |
+
"role": "target",
|
| 473 |
+
"eval_mode": "adapter_noop",
|
| 474 |
+
"seed": 17,
|
| 475 |
+
"episodes": 50,
|
| 476 |
+
"resolution": 224,
|
| 477 |
+
"cameras": [
|
| 478 |
+
"front",
|
| 479 |
+
"left",
|
| 480 |
+
"right"
|
| 481 |
+
],
|
| 482 |
+
"observation_stack": "rgb_triplicate_zero_depth",
|
| 483 |
+
"action_horizon": 8,
|
| 484 |
+
"action_space": "widowx_delta_pose",
|
| 485 |
+
"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone."
|
| 488 |
+
}
|
reports/maniskill_bag_bridge_eval_less_bonus_seed23/public_benchmark_package_summary.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
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|
|
|
|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"anchor_pass": true,
|
| 3 |
+
"available_tracks": [
|
| 4 |
+
"bag_track"
|
| 5 |
+
],
|
| 6 |
+
"ci_above_zero_tracks": [],
|
| 7 |
+
"headline_pass": false,
|
| 8 |
+
"package_name": "public_reveal_retrieve_package_v1",
|
| 9 |
+
"sign_of_life_pass": false,
|
| 10 |
+
"sign_of_life_track_count": 0,
|
| 11 |
+
"sign_of_life_tracks": [],
|
| 12 |
+
"target_macro_average_delta": 0.0,
|
| 13 |
+
"tracks": {
|
| 14 |
+
"bag_track": {
|
| 15 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 16 |
+
"delta_active_vs_trunk": 0.0,
|
| 17 |
+
"delta_active_vs_trunk_ci95": [
|
| 18 |
+
-0.18000003695487976,
|
| 19 |
+
0.20000001788139343
|
| 20 |
+
],
|
| 21 |
+
"delta_noop_vs_trunk": -0.3999999910593033,
|
| 22 |
+
"modes": {
|
| 23 |
+
"adapter_active_ft": {
|
| 24 |
+
"disturbance_proxy": 0.0,
|
| 25 |
+
"intervention_rate": 1.0,
|
| 26 |
+
"mean_success": 0.47999998927116394,
|
| 27 |
+
"non_base_selection_rate": 1.0,
|
| 28 |
+
"num_runs": 1,
|
| 29 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 30 |
+
"steps_to_retrieve": 4.0
|
| 31 |
+
},
|
| 32 |
+
"adapter_noop": {
|
| 33 |
+
"disturbance_proxy": 0.0,
|
| 34 |
+
"intervention_rate": 0.0,
|
| 35 |
+
"mean_success": 0.07999999821186066,
|
| 36 |
+
"non_base_selection_rate": 0.0,
|
| 37 |
+
"num_runs": 1,
|
| 38 |
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"steps_to_first_reveal_or_access": 1.0,
|
| 39 |
+
"steps_to_retrieve": 4.0
|
| 40 |
+
},
|
| 41 |
+
"trunk_only_ft": {
|
| 42 |
+
"disturbance_proxy": 0.0,
|
| 43 |
+
"intervention_rate": 0.0,
|
| 44 |
+
"mean_success": 0.47999998927116394,
|
| 45 |
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"non_base_selection_rate": 0.0,
|
| 46 |
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"num_runs": 1,
|
| 47 |
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"steps_to_first_reveal_or_access": 1.0,
|
| 48 |
+
"steps_to_retrieve": 4.0
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 52 |
+
"public_source": "ManiSkill public scene proxy: PutEggplantInBasketScene-v1",
|
| 53 |
+
"role": "target",
|
| 54 |
+
"signs_of_life": false,
|
| 55 |
+
"suite": "maniskill3",
|
| 56 |
+
"target_behavior": "retrieve the target object from inside the basket and stage it outside the basket",
|
| 57 |
+
"task_family": "bag_retrieval_proxy"
|
| 58 |
+
}
|
| 59 |
+
}
|
| 60 |
+
}
|
reports/maniskill_bag_bridge_eval_less_bonus_seed23/trunk_only_ft_seed23.json
ADDED
|
@@ -0,0 +1,509 @@
|
|
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|
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|
| 470 |
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|
| 471 |
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"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 472 |
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"role": "target",
|
| 473 |
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|
| 474 |
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"seed": 17,
|
| 475 |
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|
| 476 |
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|
| 477 |
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|
| 478 |
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"front",
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| 479 |
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"left",
|
| 480 |
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"right"
|
| 481 |
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],
|
| 482 |
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|
| 483 |
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|
| 484 |
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|
| 485 |
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"same_test_episodes": true
|
| 486 |
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},
|
| 487 |
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"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 488 |
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"train_spec": {
|
| 489 |
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"track_id": "bag_track",
|
| 490 |
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"suite": "maniskill3",
|
| 491 |
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|
| 492 |
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|
| 493 |
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"seed": 23,
|
| 494 |
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|
| 495 |
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|
| 496 |
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"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 497 |
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"optimizer": "adamw",
|
| 498 |
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|
| 499 |
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|
| 500 |
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"batch_size": 4,
|
| 501 |
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|
| 502 |
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|
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|
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|
| 505 |
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|
| 506 |
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"same_data_policy": true,
|
| 507 |
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"same_init_policy": true
|
| 508 |
+
}
|
| 509 |
+
}
|
reports/maniskill_cloth_bridge_val_sweep_seed23/very_low_thresh_less_bonus/adapter_noop_seed23.json
ADDED
|
@@ -0,0 +1,110 @@
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|
| 1 |
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{
|
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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| 9 |
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|
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}
|
| 89 |
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],
|
| 90 |
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"eval_protocol": {
|
| 91 |
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"track_id": "cloth_track",
|
| 92 |
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"suite": "maniskill3",
|
| 93 |
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"benchmark_task": "PutSpoonUnderClothRetrievalProxy-v1",
|
| 94 |
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"role": "target",
|
| 95 |
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"eval_mode": "adapter_noop",
|
| 96 |
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"seed": 17,
|
| 97 |
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|
| 98 |
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|
| 99 |
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"cameras": [
|
| 100 |
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"front",
|
| 101 |
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"left",
|
| 102 |
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"right"
|
| 103 |
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],
|
| 104 |
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"observation_stack": "rgb_triplicate_zero_depth",
|
| 105 |
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"action_horizon": 8,
|
| 106 |
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"action_space": "widowx_delta_pose",
|
| 107 |
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"same_test_episodes": true
|
| 108 |
+
},
|
| 109 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The spoon is placed under the cloth region and must be revealed and extracted to the open side of the table."
|
| 110 |
+
}
|
reports/maniskill_cloth_bridge_val_sweep_seed23/very_low_thresh_less_bonus/trunk_only_ft_seed23.json
ADDED
|
@@ -0,0 +1,131 @@
|
|
|
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|
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|
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|
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|
|
|
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|
|
|
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|
|
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|
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|
|
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|
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|
|
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|
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|
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|
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|
| 1 |
+
{
|
| 2 |
+
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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|
| 8 |
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| 63 |
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| 64 |
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| 65 |
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| 66 |
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| 68 |
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| 70 |
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| 72 |
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| 73 |
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| 74 |
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| 75 |
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| 78 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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| 86 |
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| 87 |
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| 88 |
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}
|
| 89 |
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],
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| 90 |
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"eval_protocol": {
|
| 91 |
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"track_id": "cloth_track",
|
| 92 |
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"suite": "maniskill3",
|
| 93 |
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"benchmark_task": "PutSpoonUnderClothRetrievalProxy-v1",
|
| 94 |
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"role": "target",
|
| 95 |
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"eval_mode": "trunk_only_ft",
|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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"front",
|
| 101 |
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"left",
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| 102 |
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"right"
|
| 103 |
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|
| 104 |
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"observation_stack": "rgb_triplicate_zero_depth",
|
| 105 |
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|
| 106 |
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"action_space": "widowx_delta_pose",
|
| 107 |
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"same_test_episodes": true
|
| 108 |
+
},
|
| 109 |
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"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The spoon is placed under the cloth region and must be revealed and extracted to the open side of the table.",
|
| 110 |
+
"train_spec": {
|
| 111 |
+
"track_id": "cloth_track",
|
| 112 |
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"suite": "maniskill3",
|
| 113 |
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"benchmark_task": "PutSpoonUnderClothRetrievalProxy-v1",
|
| 114 |
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"model_variant": "trunk_only_ft",
|
| 115 |
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"seed": 23,
|
| 116 |
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"train_demos": 32,
|
| 117 |
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"val_demos": 8,
|
| 118 |
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"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 119 |
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"optimizer": "adamw",
|
| 120 |
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"learning_rate": 0.0001,
|
| 121 |
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"lr_schedule": "constant",
|
| 122 |
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"batch_size": 4,
|
| 123 |
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"augmentations": "none",
|
| 124 |
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"early_stopping_metric": "val_total",
|
| 125 |
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"max_gradient_steps": 174,
|
| 126 |
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"unfreeze_scope": "fusion_memory_decoder",
|
| 127 |
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"dataset_split_id": "cloth_bridge_smoke_v1_seed17",
|
| 128 |
+
"same_data_policy": true,
|
| 129 |
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"same_init_policy": true
|
| 130 |
+
}
|
| 131 |
+
}
|
reports/maniskill_pickclutter_smoke/_debug_active.json
ADDED
|
@@ -0,0 +1,46 @@
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| 1 |
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{
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| 2 |
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"track_id": "occlusion_track",
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| 3 |
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"suite": "maniskill3",
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| 4 |
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"benchmark_task": "PickClutterYCB-v1",
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| 5 |
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"role": "target",
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| 6 |
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| 7 |
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| 8 |
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| 17 |
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| 20 |
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| 21 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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"role": "target",
|
| 32 |
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"eval_mode": "adapter_active_ft",
|
| 33 |
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"seed": 17,
|
| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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"front",
|
| 38 |
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"left",
|
| 39 |
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"right"
|
| 40 |
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],
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| 41 |
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"observation_stack": "rgbd_3cam",
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| 42 |
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|
| 43 |
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|
| 44 |
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"same_test_episodes": true
|
| 45 |
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}
|
| 46 |
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}
|
reports/maniskill_pickclutter_smoke/_debug_noop.json
ADDED
|
@@ -0,0 +1,46 @@
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|
| 1 |
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{
|
| 2 |
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"track_id": "occlusion_track",
|
| 3 |
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"suite": "maniskill3",
|
| 4 |
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"benchmark_task": "PickClutterYCB-v1",
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| 5 |
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"role": "target",
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| 6 |
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"adapter_mode": "adapter_noop",
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| 7 |
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| 8 |
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| 9 |
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| 20 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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|
| 43 |
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| 44 |
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|
| 45 |
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}
|
| 46 |
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|
reports/maniskill_pickclutter_smoke/_debug_trunk.json
ADDED
|
@@ -0,0 +1,46 @@
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|
| 1 |
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{
|
| 2 |
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"track_id": "occlusion_track",
|
| 3 |
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"suite": "maniskill3",
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| 4 |
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"benchmark_task": "PickClutterYCB-v1",
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| 5 |
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"role": "target",
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| 6 |
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"adapter_mode": "trunk_only_ft",
|
| 7 |
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"episodes": 1,
|
| 8 |
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| 9 |
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|
| 10 |
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| 17 |
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| 18 |
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| 19 |
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|
| 20 |
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| 21 |
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|
| 22 |
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| 25 |
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}
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| 26 |
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],
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| 27 |
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"eval_protocol": {
|
| 28 |
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"track_id": "occlusion_track",
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| 29 |
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"suite": "maniskill3",
|
| 30 |
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"benchmark_task": "PickClutterYCB-v1",
|
| 31 |
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"role": "target",
|
| 32 |
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"eval_mode": "trunk_only_ft",
|
| 33 |
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"seed": 17,
|
| 34 |
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|
| 35 |
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"resolution": 224,
|
| 36 |
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"cameras": [
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| 37 |
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"front",
|
| 38 |
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"left",
|
| 39 |
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"right"
|
| 40 |
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],
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| 41 |
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"observation_stack": "rgbd_3cam",
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| 42 |
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"action_horizon": 8,
|
| 43 |
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"action_space": "bimanual_delta_pose",
|
| 44 |
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"same_test_episodes": true
|
| 45 |
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}
|
| 46 |
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}
|
reports/maniskill_pickclutter_smoke/adapter_active_ft_seed17.json
ADDED
|
@@ -0,0 +1,508 @@
|
|
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|
|
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| 508 |
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}
|
reports/maniskill_pickclutter_smoke/adapter_noop_seed17.json
ADDED
|
@@ -0,0 +1,508 @@
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},
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{
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},
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{
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| 404 |
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| 410 |
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},
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| 411 |
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{
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| 412 |
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| 413 |
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"success": false,
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| 414 |
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| 416 |
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| 417 |
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| 418 |
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},
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| 419 |
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{
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| 420 |
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"episode_seed": 172044,
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| 421 |
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"success": false,
|
| 422 |
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| 423 |
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| 424 |
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| 425 |
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| 426 |
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},
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| 427 |
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{
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| 428 |
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"episode_seed": 172045,
|
| 429 |
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|
| 430 |
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| 431 |
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| 432 |
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| 433 |
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|
| 434 |
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},
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| 435 |
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{
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| 436 |
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"episode_seed": 172046,
|
| 437 |
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|
| 438 |
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|
| 439 |
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| 440 |
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|
| 441 |
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|
| 442 |
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},
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| 443 |
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{
|
| 444 |
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|
| 445 |
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|
| 446 |
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|
| 447 |
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|
| 448 |
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|
| 449 |
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|
| 450 |
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},
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| 451 |
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{
|
| 452 |
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"episode_seed": 172048,
|
| 453 |
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"success": false,
|
| 454 |
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|
| 455 |
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|
| 456 |
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|
| 457 |
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|
| 458 |
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},
|
| 459 |
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{
|
| 460 |
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"episode_seed": 172049,
|
| 461 |
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|
| 462 |
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|
| 463 |
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| 464 |
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|
| 465 |
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"episode_disturbance": 0.12099857449539453
|
| 466 |
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}
|
| 467 |
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],
|
| 468 |
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"eval_protocol": {
|
| 469 |
+
"track_id": "occlusion_track",
|
| 470 |
+
"suite": "maniskill3",
|
| 471 |
+
"benchmark_task": "PickClutterYCB-v1",
|
| 472 |
+
"role": "target",
|
| 473 |
+
"eval_mode": "adapter_noop",
|
| 474 |
+
"seed": 17,
|
| 475 |
+
"episodes": 50,
|
| 476 |
+
"resolution": 224,
|
| 477 |
+
"cameras": [
|
| 478 |
+
"front",
|
| 479 |
+
"left",
|
| 480 |
+
"right"
|
| 481 |
+
],
|
| 482 |
+
"observation_stack": "rgbd_3cam",
|
| 483 |
+
"action_horizon": 8,
|
| 484 |
+
"action_space": "bimanual_delta_pose",
|
| 485 |
+
"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"train_spec": {
|
| 488 |
+
"track_id": "occlusion_track",
|
| 489 |
+
"suite": "maniskill3",
|
| 490 |
+
"benchmark_task": "PickClutterYCB-v1",
|
| 491 |
+
"model_variant": "adapter_active_ft",
|
| 492 |
+
"seed": 17,
|
| 493 |
+
"train_demos": 32,
|
| 494 |
+
"val_demos": 8,
|
| 495 |
+
"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 496 |
+
"optimizer": "adamw",
|
| 497 |
+
"learning_rate": 0.0001,
|
| 498 |
+
"lr_schedule": "constant",
|
| 499 |
+
"batch_size": 4,
|
| 500 |
+
"augmentations": "none",
|
| 501 |
+
"early_stopping_metric": "val_total",
|
| 502 |
+
"max_gradient_steps": 144,
|
| 503 |
+
"unfreeze_scope": "fusion_memory_decoder",
|
| 504 |
+
"dataset_split_id": "pickclutter_smoke_seed17",
|
| 505 |
+
"same_data_policy": true,
|
| 506 |
+
"same_init_policy": true
|
| 507 |
+
}
|
| 508 |
+
}
|
reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"anchor_pass": true,
|
| 3 |
+
"available_tracks": [
|
| 4 |
+
"occlusion_track"
|
| 5 |
+
],
|
| 6 |
+
"ci_above_zero_tracks": [],
|
| 7 |
+
"headline_pass": false,
|
| 8 |
+
"package_name": "public_reveal_retrieve_package_v1",
|
| 9 |
+
"sign_of_life_pass": false,
|
| 10 |
+
"sign_of_life_track_count": 0,
|
| 11 |
+
"sign_of_life_tracks": [],
|
| 12 |
+
"target_macro_average_delta": 0.0,
|
| 13 |
+
"tracks": {
|
| 14 |
+
"occlusion_track": {
|
| 15 |
+
"benchmark_task": "PickClutterYCB-v1",
|
| 16 |
+
"delta_active_vs_trunk": 0.0,
|
| 17 |
+
"delta_active_vs_trunk_ci95": [
|
| 18 |
+
-0.07999999821186066,
|
| 19 |
+
0.07999999821186066
|
| 20 |
+
],
|
| 21 |
+
"delta_noop_vs_trunk": 0.0,
|
| 22 |
+
"modes": {
|
| 23 |
+
"adapter_active_ft": {
|
| 24 |
+
"disturbance_proxy": 0.044149198573813955,
|
| 25 |
+
"intervention_rate": 0.0,
|
| 26 |
+
"mean_success": 0.03999999910593033,
|
| 27 |
+
"non_base_selection_rate": 0.0,
|
| 28 |
+
"num_runs": 1,
|
| 29 |
+
"steps_to_first_reveal_or_access": 4.0,
|
| 30 |
+
"steps_to_retrieve": 4.0
|
| 31 |
+
},
|
| 32 |
+
"adapter_noop": {
|
| 33 |
+
"disturbance_proxy": 0.22772394362117063,
|
| 34 |
+
"intervention_rate": 0.0,
|
| 35 |
+
"mean_success": 0.03999999910593033,
|
| 36 |
+
"non_base_selection_rate": 0.0,
|
| 37 |
+
"num_runs": 1,
|
| 38 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 39 |
+
"steps_to_retrieve": 4.0
|
| 40 |
+
},
|
| 41 |
+
"trunk_only_ft": {
|
| 42 |
+
"disturbance_proxy": 0.22900254205053194,
|
| 43 |
+
"intervention_rate": 0.0,
|
| 44 |
+
"mean_success": 0.03999999910593033,
|
| 45 |
+
"non_base_selection_rate": 0.0,
|
| 46 |
+
"num_runs": 1,
|
| 47 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 48 |
+
"steps_to_retrieve": 4.0
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"notes": "Closest maintained public occluded retrieval task. Treat as the canopy / dense occlusion proxy.",
|
| 52 |
+
"public_source": "https://maniskill.readthedocs.io/en/latest/tasks/table_top_gripper/index.html",
|
| 53 |
+
"role": "target",
|
| 54 |
+
"signs_of_life": false,
|
| 55 |
+
"suite": "maniskill3",
|
| 56 |
+
"target_behavior": "retrieve a target object from dense occluding clutter",
|
| 57 |
+
"task_family": "dense_occluded_retrieval"
|
| 58 |
+
}
|
| 59 |
+
}
|
| 60 |
+
}
|
reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
| 1 |
+
# ManiSkill PickClutter Smoke Summary
|
| 2 |
+
|
| 3 |
+
- available_tracks: ['occlusion_track']
|
| 4 |
+
- target_macro_average_delta: 0.000
|
| 5 |
+
- headline_pass: False
|
| 6 |
+
- sign_of_life_pass: False
|
| 7 |
+
|
| 8 |
+
## occlusion_track
|
| 9 |
+
- delta_active_vs_trunk: 0.000
|
| 10 |
+
- delta_noop_vs_trunk: 0.000
|
| 11 |
+
- signs_of_life: False
|
| 12 |
+
- trunk_only_ft: mean_success=0.040
|
| 13 |
+
- adapter_noop: mean_success=0.040
|
| 14 |
+
- adapter_active_ft: mean_success=0.040
|
reports/maniskill_pickclutter_smoke/trunk_only_ft_seed17.json
ADDED
|
@@ -0,0 +1,508 @@
|
|
|
|
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|
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| 504 |
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|
| 505 |
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| 506 |
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|
| 507 |
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}
|
| 508 |
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}
|
reports/maniskill_pickclutter_smoke_v4/adapter_active_ft_seed17.json
ADDED
|
@@ -0,0 +1,508 @@
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| 507 |
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|
| 508 |
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}
|
reports/maniskill_pickclutter_smoke_v4/adapter_noop_seed17.json
ADDED
|
@@ -0,0 +1,508 @@
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| 1 |
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| 484 |
+
"action_space": "bimanual_delta_pose",
|
| 485 |
+
"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"train_spec": {
|
| 488 |
+
"track_id": "occlusion_track",
|
| 489 |
+
"suite": "maniskill3",
|
| 490 |
+
"benchmark_task": "PickClutterYCB-v1",
|
| 491 |
+
"model_variant": "adapter_active_ft",
|
| 492 |
+
"seed": 17,
|
| 493 |
+
"train_demos": 32,
|
| 494 |
+
"val_demos": 8,
|
| 495 |
+
"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 496 |
+
"optimizer": "adamw",
|
| 497 |
+
"learning_rate": 0.0001,
|
| 498 |
+
"lr_schedule": "constant",
|
| 499 |
+
"batch_size": 4,
|
| 500 |
+
"augmentations": "none",
|
| 501 |
+
"early_stopping_metric": "val_total",
|
| 502 |
+
"max_gradient_steps": 144,
|
| 503 |
+
"unfreeze_scope": "fusion_memory_decoder",
|
| 504 |
+
"dataset_split_id": "pickclutter_smoke_v4_seed17",
|
| 505 |
+
"same_data_policy": true,
|
| 506 |
+
"same_init_policy": true
|
| 507 |
+
}
|
| 508 |
+
}
|
reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"anchor_pass": true,
|
| 3 |
+
"available_tracks": [
|
| 4 |
+
"occlusion_track"
|
| 5 |
+
],
|
| 6 |
+
"ci_above_zero_tracks": [],
|
| 7 |
+
"headline_pass": false,
|
| 8 |
+
"package_name": "public_reveal_retrieve_package_v1",
|
| 9 |
+
"sign_of_life_pass": false,
|
| 10 |
+
"sign_of_life_track_count": 0,
|
| 11 |
+
"sign_of_life_tracks": [],
|
| 12 |
+
"target_macro_average_delta": -0.4399999901652336,
|
| 13 |
+
"tracks": {
|
| 14 |
+
"occlusion_track": {
|
| 15 |
+
"benchmark_task": "PickClutterYCB-v1",
|
| 16 |
+
"delta_active_vs_trunk": -0.4399999901652336,
|
| 17 |
+
"delta_active_vs_trunk_ci95": [
|
| 18 |
+
-0.5999999642372131,
|
| 19 |
+
-0.29999998211860657
|
| 20 |
+
],
|
| 21 |
+
"delta_noop_vs_trunk": -0.4399999901652336,
|
| 22 |
+
"modes": {
|
| 23 |
+
"adapter_active_ft": {
|
| 24 |
+
"disturbance_proxy": 0.044149198573813955,
|
| 25 |
+
"intervention_rate": 1.0,
|
| 26 |
+
"mean_success": 0.03999999910593033,
|
| 27 |
+
"non_base_selection_rate": 1.0,
|
| 28 |
+
"num_runs": 1,
|
| 29 |
+
"steps_to_first_reveal_or_access": 4.0,
|
| 30 |
+
"steps_to_retrieve": 4.0
|
| 31 |
+
},
|
| 32 |
+
"adapter_noop": {
|
| 33 |
+
"disturbance_proxy": 0.22772394362117063,
|
| 34 |
+
"intervention_rate": 0.0,
|
| 35 |
+
"mean_success": 0.03999999910593033,
|
| 36 |
+
"non_base_selection_rate": 0.0,
|
| 37 |
+
"num_runs": 1,
|
| 38 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 39 |
+
"steps_to_retrieve": 4.0
|
| 40 |
+
},
|
| 41 |
+
"trunk_only_ft": {
|
| 42 |
+
"disturbance_proxy": 0.2100884334183511,
|
| 43 |
+
"intervention_rate": 0.0,
|
| 44 |
+
"mean_success": 0.47999998927116394,
|
| 45 |
+
"non_base_selection_rate": 0.0,
|
| 46 |
+
"num_runs": 1,
|
| 47 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 48 |
+
"steps_to_retrieve": 4.0
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"notes": "Closest maintained public occluded retrieval task. Treat as the canopy / dense occlusion proxy.",
|
| 52 |
+
"public_source": "https://maniskill.readthedocs.io/en/latest/tasks/table_top_gripper/index.html",
|
| 53 |
+
"role": "target",
|
| 54 |
+
"signs_of_life": false,
|
| 55 |
+
"suite": "maniskill3",
|
| 56 |
+
"target_behavior": "retrieve a target object from dense occluding clutter",
|
| 57 |
+
"task_family": "dense_occluded_retrieval"
|
| 58 |
+
}
|
| 59 |
+
}
|
| 60 |
+
}
|
reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# ManiSkill PickClutter Smoke Summary
|
| 2 |
+
|
| 3 |
+
- available_tracks: ['occlusion_track']
|
| 4 |
+
- target_macro_average_delta: -0.440
|
| 5 |
+
- headline_pass: False
|
| 6 |
+
- sign_of_life_pass: False
|
| 7 |
+
|
| 8 |
+
## occlusion_track
|
| 9 |
+
- delta_active_vs_trunk: -0.440
|
| 10 |
+
- delta_noop_vs_trunk: -0.440
|
| 11 |
+
- signs_of_life: False
|
| 12 |
+
- trunk_only_ft: mean_success=0.480
|
| 13 |
+
- adapter_noop: mean_success=0.040
|
| 14 |
+
- adapter_active_ft: mean_success=0.040
|
reports/maniskill_pickclutter_smoke_v4/trunk_only_ft_seed17.json
ADDED
|
@@ -0,0 +1,508 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"track_id": "occlusion_track",
|
| 3 |
+
"suite": "maniskill3",
|
| 4 |
+
"benchmark_task": "PickClutterYCB-v1",
|
| 5 |
+
"role": "target",
|
| 6 |
+
"adapter_mode": "trunk_only_ft",
|
| 7 |
+
"episodes": 50,
|
| 8 |
+
"successes": [
|
| 9 |
+
1,
|
| 10 |
+
1,
|
| 11 |
+
1,
|
| 12 |
+
0,
|
| 13 |
+
0,
|
| 14 |
+
0,
|
| 15 |
+
0,
|
| 16 |
+
0,
|
| 17 |
+
0,
|
| 18 |
+
1,
|
| 19 |
+
0,
|
| 20 |
+
1,
|
| 21 |
+
0,
|
| 22 |
+
1,
|
| 23 |
+
0,
|
| 24 |
+
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| 436 |
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| 454 |
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| 468 |
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"eval_protocol": {
|
| 469 |
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"track_id": "occlusion_track",
|
| 470 |
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"suite": "maniskill3",
|
| 471 |
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"benchmark_task": "PickClutterYCB-v1",
|
| 472 |
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"role": "target",
|
| 473 |
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|
| 474 |
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"seed": 17,
|
| 475 |
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|
| 476 |
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"resolution": 224,
|
| 477 |
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"cameras": [
|
| 478 |
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"front",
|
| 479 |
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"left",
|
| 480 |
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"right"
|
| 481 |
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],
|
| 482 |
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"observation_stack": "rgbd_3cam",
|
| 483 |
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"action_horizon": 8,
|
| 484 |
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"action_space": "bimanual_delta_pose",
|
| 485 |
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"same_test_episodes": true
|
| 486 |
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|
| 487 |
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"train_spec": {
|
| 488 |
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|
| 489 |
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"suite": "maniskill3",
|
| 490 |
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|
| 491 |
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|
| 492 |
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"seed": 17,
|
| 493 |
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"train_demos": 32,
|
| 494 |
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"val_demos": 8,
|
| 495 |
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"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 496 |
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"optimizer": "adamw",
|
| 497 |
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"learning_rate": 0.0001,
|
| 498 |
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"lr_schedule": "constant",
|
| 499 |
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"batch_size": 4,
|
| 500 |
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"augmentations": "none",
|
| 501 |
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"early_stopping_metric": "val_total",
|
| 502 |
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"max_gradient_steps": 144,
|
| 503 |
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"unfreeze_scope": "fusion_memory_decoder",
|
| 504 |
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"dataset_split_id": "pickclutter_smoke_v4_seed17",
|
| 505 |
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"same_data_policy": true,
|
| 506 |
+
"same_init_policy": true
|
| 507 |
+
}
|
| 508 |
+
}
|
reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/adapter_active_ft_seed17.json
ADDED
|
@@ -0,0 +1,508 @@
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|
| 1 |
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{
|
| 2 |
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|
| 3 |
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|
| 4 |
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| 5 |
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| 505 |
+
"same_data_policy": true,
|
| 506 |
+
"same_init_policy": true
|
| 507 |
+
}
|
| 508 |
+
}
|
reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/adapter_noop_seed17.json
ADDED
|
@@ -0,0 +1,508 @@
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|
| 1 |
+
{
|
| 2 |
+
"track_id": "occlusion_track",
|
| 3 |
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"suite": "maniskill3",
|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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|
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}
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],
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| 468 |
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"eval_protocol": {
|
| 469 |
+
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|
| 470 |
+
"suite": "maniskill3",
|
| 471 |
+
"benchmark_task": "PickClutterYCB-v1",
|
| 472 |
+
"role": "target",
|
| 473 |
+
"eval_mode": "adapter_noop",
|
| 474 |
+
"seed": 17,
|
| 475 |
+
"episodes": 50,
|
| 476 |
+
"resolution": 224,
|
| 477 |
+
"cameras": [
|
| 478 |
+
"front",
|
| 479 |
+
"left",
|
| 480 |
+
"right"
|
| 481 |
+
],
|
| 482 |
+
"observation_stack": "rgbd_3cam",
|
| 483 |
+
"action_horizon": 8,
|
| 484 |
+
"action_space": "bimanual_delta_pose",
|
| 485 |
+
"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"train_spec": {
|
| 488 |
+
"track_id": "occlusion_track",
|
| 489 |
+
"suite": "maniskill3",
|
| 490 |
+
"benchmark_task": "PickClutterYCB-v1",
|
| 491 |
+
"model_variant": "adapter_active_ft",
|
| 492 |
+
"seed": 17,
|
| 493 |
+
"train_demos": 32,
|
| 494 |
+
"val_demos": 8,
|
| 495 |
+
"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 496 |
+
"optimizer": "adamw",
|
| 497 |
+
"learning_rate": 0.0001,
|
| 498 |
+
"lr_schedule": "constant",
|
| 499 |
+
"batch_size": 4,
|
| 500 |
+
"augmentations": "none",
|
| 501 |
+
"early_stopping_metric": "val_total",
|
| 502 |
+
"max_gradient_steps": 144,
|
| 503 |
+
"unfreeze_scope": "fusion_memory_decoder",
|
| 504 |
+
"dataset_split_id": "pickclutter_smoke_v3_seed17",
|
| 505 |
+
"same_data_policy": true,
|
| 506 |
+
"same_init_policy": true
|
| 507 |
+
}
|
| 508 |
+
}
|
reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/public_benchmark_package_summary.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
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|
|
|
| 1 |
+
# ManiSkill PickClutter Smoke Summary
|
| 2 |
+
|
| 3 |
+
- available_tracks: ['occlusion_track']
|
| 4 |
+
- target_macro_average_delta: 0.560
|
| 5 |
+
- headline_pass: True
|
| 6 |
+
- sign_of_life_pass: False
|
| 7 |
+
|
| 8 |
+
## occlusion_track
|
| 9 |
+
- delta_active_vs_trunk: 0.560
|
| 10 |
+
- delta_noop_vs_trunk: 0.000
|
| 11 |
+
- signs_of_life: True
|
| 12 |
+
- trunk_only_ft: mean_success=0.060
|
| 13 |
+
- adapter_noop: mean_success=0.060
|
| 14 |
+
- adapter_active_ft: mean_success=0.620
|
reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/adapter_noop_seed17.json
ADDED
|
@@ -0,0 +1,508 @@
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