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+output_dir: /workspace/workspace/outputs/adapter_proxy +device: cuda +seed: 17 +init_checkpoint: /workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt +init_strict: false +data: + proxies: + - foliage_proxy + - bag_proxy + - cloth_proxy + resolution: 224 + dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase + train_episodes_per_proxy: 128 + val_episodes_per_proxy: 32 + train_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_rebuild128_seed17.pt + val_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_rebuild128_seed17.pt + rebuild_dataset: false + chunk_horizon: 8 + rollout_horizon: 5 + history_steps: 6 + planner_candidates: 8 + seed: 17 +optim: + epochs: 4 + batch_size: 8 + num_workers: 32 + lr: 0.0001 + weight_decay: 0.0001 +trainer: + policy_type: adapter_wrapped + training_regime: adapter_train_frozen_trunk + eval_mode: adapter_active + adapter_mode: adapter_active + adapter_use_transition_model: true + adapter_use_task_conditioning: true + use_bf16: true + grad_clip_norm: 1.0 + freeze_backbone: true + gradient_checkpointing: false + plan_during_train: false + plan_during_eval: false + support_mode_conditioning: true + planner_mode: false + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - adapter.state_head + - adapter.proposal_prior + - adapter.transition_model + - adapter.planner +policy: + backbone: + model_name: openai/clip-vit-base-patch32 + hidden_dim: 512 + max_text_tokens: 32 + freeze_backbone: true + gradient_checkpointing: false + use_dummy_backbone: false + fusion: + hidden_dim: 512 + num_cameras: 3 + num_layers: 4 + num_heads: 8 + ff_dim: 2048 + dropout: 0.1 + proprio_dim: 32 + proprio_tokens: 1 + memory: + hidden_dim: 512 + action_dim: 14 + history_steps: 6 + scene_history_steps: 3 + belief_history_steps: 8 + num_layers: 2 + dropout: 0.1 + memory_bank_size: 4 + scene_bank_size: 2 + belief_bank_size: 2 + num_heads: 8 + max_history_steps: 8 + reveal_cache_steps: 4 + reveal_cache_decay: 0.7 + decoder: + hidden_dim: 512 + num_heads: 8 + num_layers: 4 + ff_dim: 2048 + dropout: 0.1 + chunk_size: 8 + action_dim: 14 + arm_action_dim: 7 + num_candidates: 8 + num_phases: 5 + num_arm_roles: 4 + num_proposal_modes: 7 + planner_top_k: 4 + proposal_delta_scale: 0.2 + proposal_slot_scale: 0.05 + reveal_head: + hidden_dim: 512 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + belief_map_size: 32 + field_size: 16 + num_heads: 8 + predict_belief_map: true + num_phases: 5 + num_arm_roles: 4 + num_interaction_tokens: 8 + num_tasks: 4 + world_model: + hidden_dim: 512 + action_dim: 14 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + field_size: 16 + num_heads: 8 + num_phases: 5 + num_arm_roles: 4 + num_interaction_tokens: 8 + belief_map_size: 32 + predict_belief_map: true + scene_bank_size: 2 + belief_bank_size: 2 + rollout_mode: compact_rollout + num_tasks: 4 + lightweight_field_size: 4 + planner: + hidden_dim: 512 + num_candidates: 8 + action_dim: 14 + num_support_modes: 3 + utility_margin: 0.1 + num_heads: 8 + num_layers: 2 + num_phases: 5 + num_arm_roles: 4 + top_k: 4 + adapter_confidence_threshold: 0.55 +loss_weights: + action: 1.0 + phase: 0.08 + arm_role: 0.08 + support_mode: 0.08 + corridor: 0.12 + persistence: 0.06 + disturbance: 0.06 + world_model: 0.0 + transition: 0.2 + belief: 0.05 + visibility: 0.05 + clearance: 0.06 + support_stability: 0.06 + reocclusion: 0.06 + occluder_contact: 0.05 + grasp_affordance: 0.05 + planner_success: 0.15 + planner_risk: 0.08 + planner_ranking: 0.15 + proposal_reconstruction: 0.08 + proposal_success: 0.1 + proposal_ranking: 0.12 + proposal_mode: 0.08 + proposal_diversity: 0.05 + role_swap_consistency: 0.0 + task_metrics: 0.06 + gate: 0.05 + distillation: 0.05 + calibration: 0.02 diff --git a/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/summary.json b/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..ea432efaed244ba6f26ed3e10e3c44ee5c18a8e0 --- /dev/null +++ b/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/summary.json @@ -0,0 +1,1361 @@ +{ + "experiment_name": "proxy_adapter_wrapped_clip_base_reuse128_seed17", + "device": "cuda", + "best_checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt", + "final_train_total": 2.383075835324135, + "final_val_total": 2.3298022985458373, + "train_time_sec": 139.2956690788269, + "peak_gpu_memory_mb": 1625.2607421875, + "num_train_samples": 950, + "num_val_samples": 240, + "planner_mode": false, + "frozen_modules": [], + 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proxy_adapter_wrapped_clip_rank_only_fast_seed17 +output_dir: /workspace/workspace/outputs/adapter_proxy +device: cuda +seed: 17 +init_checkpoint: /workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt +init_strict: false +data: + proxies: + - foliage_proxy + - bag_proxy + - cloth_proxy + resolution: 224 + dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_fast + train_episodes_per_proxy: 12 + val_episodes_per_proxy: 4 + train_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_fast.pt + val_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_fast.pt + rebuild_dataset: false + chunk_horizon: 8 + rollout_horizon: 5 + history_steps: 6 + planner_candidates: 8 + seed: 17 +optim: + epochs: 1 + batch_size: 4 + num_workers: 8 + lr: 5.0e-05 + weight_decay: 0.0001 +trainer: + policy_type: adapter_wrapped + training_regime: proxy_rank_only + eval_mode: adapter_active + adapter_mode: adapter_active + adapter_use_transition_model: false + adapter_use_task_conditioning: true + use_bf16: true + grad_clip_norm: 1.0 + freeze_backbone: true + gradient_checkpointing: false + plan_during_train: false + plan_during_eval: false + support_mode_conditioning: true + planner_mode: false + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - adapter.proposal_prior + - adapter.planner +policy: + backbone: + model_name: openai/clip-vit-base-patch32 + hidden_dim: 512 + max_text_tokens: 32 + freeze_backbone: true + gradient_checkpointing: false + use_dummy_backbone: false + fusion: + hidden_dim: 512 + num_cameras: 3 + num_layers: 4 + num_heads: 8 + ff_dim: 2048 + dropout: 0.1 + proprio_dim: 32 + proprio_tokens: 1 + memory: + hidden_dim: 512 + action_dim: 14 + history_steps: 6 + scene_history_steps: 3 + belief_history_steps: 8 + num_layers: 2 + dropout: 0.1 + memory_bank_size: 4 + scene_bank_size: 2 + belief_bank_size: 2 + num_heads: 8 + max_history_steps: 8 + decoder: + hidden_dim: 512 + num_heads: 8 + num_layers: 4 + ff_dim: 2048 + dropout: 0.1 + chunk_size: 8 + action_dim: 14 + arm_action_dim: 7 + num_candidates: 8 + num_phases: 5 + num_arm_roles: 4 + num_proposal_modes: 7 + planner_top_k: 4 + proposal_delta_scale: 0.2 + proposal_slot_scale: 0.05 + reveal_head: + hidden_dim: 512 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + belief_map_size: 32 + field_size: 16 + num_heads: 8 + predict_belief_map: true + num_phases: 5 + num_arm_roles: 4 + num_interaction_tokens: 8 + num_tasks: 4 + world_model: + hidden_dim: 512 + action_dim: 14 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + field_size: 16 + num_heads: 8 + num_phases: 5 + num_arm_roles: 4 + num_interaction_tokens: 8 + belief_map_size: 32 + predict_belief_map: true + scene_bank_size: 2 + belief_bank_size: 2 + rollout_mode: compact_rollout + num_tasks: 4 + lightweight_field_size: 4 + planner: + hidden_dim: 512 + num_candidates: 8 + action_dim: 14 + num_support_modes: 3 + utility_margin: 0.1 + num_heads: 8 + num_layers: 2 + num_phases: 5 + num_arm_roles: 4 + top_k: 4 + adapter_confidence_threshold: 0.55 +loss_weights: + action: 0.5 + phase: 0.0 + arm_role: 0.0 + support_mode: 0.0 + corridor: 0.0 + persistence: 0.0 + disturbance: 0.0 + world_model: 0.0 + transition: 0.0 + belief: 0.0 + visibility: 0.0 + clearance: 0.0 + support_stability: 0.0 + reocclusion: 0.0 + occluder_contact: 0.0 + grasp_affordance: 0.0 + planner_success: 0.0 + planner_risk: 0.0 + planner_ranking: 0.2 + proposal_reconstruction: 0.0 + proposal_success: 0.1 + proposal_ranking: 0.2 + proposal_mode: 0.1 + proposal_diversity: 0.02 + role_swap_consistency: 0.0 + task_metrics: 0.0 + gate: 0.0 + distillation: 0.05 + calibration: 0.0 diff --git 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/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt +init_strict: false +data: + proxies: + - foliage_proxy + - bag_proxy + - cloth_proxy + resolution: 224 + dataset_version: reveal_proxy_v6_rgbd_elastic_state_phase_fast_transition + train_episodes_per_proxy: 12 + val_episodes_per_proxy: 4 + train_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_fast_transition.pt + val_dataset_path: /workspace/workspace/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_fast_transition.pt + rebuild_dataset: false + chunk_horizon: 8 + rollout_horizon: 5 + history_steps: 6 + planner_candidates: 8 + seed: 17 +optim: + epochs: 2 + batch_size: 4 + num_workers: 8 + lr: 0.0001 + weight_decay: 0.0001 +trainer: + policy_type: adapter_wrapped + training_regime: adapter_train_frozen_trunk + eval_mode: adapter_active + adapter_mode: adapter_active + adapter_use_transition_model: true + adapter_use_task_conditioning: true + use_bf16: true + grad_clip_norm: 1.0 + freeze_backbone: true + gradient_checkpointing: false + plan_during_train: false + plan_during_eval: false + support_mode_conditioning: true + planner_mode: false + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - adapter.state_head + - adapter.proposal_prior + - adapter.transition_model + - adapter.planner +policy: + backbone: + model_name: openai/clip-vit-base-patch32 + hidden_dim: 512 + max_text_tokens: 32 + freeze_backbone: true + gradient_checkpointing: false + use_dummy_backbone: false + fusion: + hidden_dim: 512 + num_cameras: 3 + num_layers: 4 + num_heads: 8 + ff_dim: 2048 + dropout: 0.1 + proprio_dim: 32 + proprio_tokens: 1 + memory: + hidden_dim: 512 + action_dim: 14 + history_steps: 6 + scene_history_steps: 3 + belief_history_steps: 8 + num_layers: 2 + dropout: 0.1 + memory_bank_size: 4 + scene_bank_size: 2 + belief_bank_size: 2 + num_heads: 8 + max_history_steps: 8 + reveal_cache_steps: 4 + reveal_cache_decay: 0.7 + decoder: + hidden_dim: 512 + num_heads: 8 + num_layers: 4 + ff_dim: 2048 + dropout: 0.1 + chunk_size: 8 + action_dim: 14 + arm_action_dim: 7 + num_candidates: 8 + num_phases: 5 + num_arm_roles: 4 + num_proposal_modes: 7 + planner_top_k: 4 + proposal_delta_scale: 0.2 + proposal_slot_scale: 0.05 + reveal_head: + hidden_dim: 512 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + belief_map_size: 32 + field_size: 16 + num_heads: 8 + predict_belief_map: true + num_phases: 5 + num_arm_roles: 4 + num_interaction_tokens: 8 + num_tasks: 4 + world_model: + hidden_dim: 512 + action_dim: 14 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + field_size: 16 + num_heads: 8 + num_phases: 5 + num_arm_roles: 4 + num_interaction_tokens: 8 + belief_map_size: 32 + predict_belief_map: true + scene_bank_size: 2 + belief_bank_size: 2 + rollout_mode: compact_rollout + num_tasks: 4 + lightweight_field_size: 4 + planner: + hidden_dim: 512 + num_candidates: 8 + action_dim: 14 + num_support_modes: 3 + utility_margin: 0.1 + num_heads: 8 + num_layers: 2 + num_phases: 5 + num_arm_roles: 4 + top_k: 4 + adapter_confidence_threshold: 0.45 +loss_weights: + action: 1.0 + phase: 0.08 + arm_role: 0.08 + support_mode: 0.08 + corridor: 0.12 + persistence: 0.06 + disturbance: 0.06 + world_model: 0.0 + transition: 0.15 + belief: 0.05 + visibility: 0.05 + clearance: 0.06 + support_stability: 0.06 + reocclusion: 0.06 + occluder_contact: 0.05 + grasp_affordance: 0.05 + planner_success: 0.15 + planner_risk: 0.08 + planner_ranking: 0.15 + proposal_reconstruction: 0.08 + proposal_success: 0.1 + proposal_ranking: 0.12 + proposal_mode: 0.08 + proposal_diversity: 0.05 + role_swap_consistency: 0.0 + task_metrics: 0.06 + gate: 0.05 + distillation: 0.05 + calibration: 0.02 diff --git 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"predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/anybimanual_anchor_bridge/adapter_noop_ep5/command.txt b/reports/anybimanual_anchor_bridge/adapter_noop_ep5/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..bae18a03f5953a9c25d84ed3a1a8793202805d95 --- /dev/null +++ b/reports/anybimanual_anchor_bridge/adapter_noop_ep5/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=5 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke1 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper diff --git a/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stderr.txt b/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2d8fd8ab547c2db97972072750748d8f112763f0 --- /dev/null +++ b/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stderr.txt @@ -0,0 +1,35 @@ +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information + warnings.warn(msg, UserWarning) +/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'. +See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information + deprecation_warning( +/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default. +See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information. + ret = run_job( +/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. + from pkg_resources import parse_version +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. + from pkg_resources import parse_version +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/third_party/YARR/yarr/utils/rollout_generator.py:73: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /opt/conda/conda-bld/pytorch_1716905979055/work/torch/csrc/utils/tensor_new.cpp:274.) + prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()} +[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors] diff --git a/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stdout.txt b/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..7f8ba16c76dbd6979fd3bee21f62ef0ee176dc2a --- /dev/null +++ b/reports/anybimanual_anchor_bridge/adapter_noop_ep5/stdout.txt @@ -0,0 +1,167 @@ +[2026-03-31 23:03:30,597][root][INFO] - +method: + name: PERACT_BC + agent_type: leader_follower + robot_name: bimanual + image_crop_size: 64 + bounds_offset: + - 0.15 + voxel_sizes: + - 100 + include_prev_layer: false + num_latents: 2048 + latent_dim: 512 + transformer_depth: 6 + transformer_iterations: 1 + cross_heads: 1 + cross_dim_head: 64 + latent_heads: 8 + latent_dim_head: 64 + pos_encoding_with_lang: true + conv_downsample: true + lang_fusion_type: seq + voxel_patch_size: 5 + voxel_patch_stride: 5 + final_dim: 64 + low_dim_size: 4 + input_dropout: 0.1 + attn_dropout: 0.1 + decoder_dropout: 0.0 + lr: 0.0005 + lr_scheduler: false + num_warmup_steps: 3000 + optimizer: lamb + lambda_weight_l2: 1.0e-06 + trans_loss_weight: 1.0 + rot_loss_weight: 1.0 + grip_loss_weight: 1.0 + collision_loss_weight: 1.0 + rotation_resolution: 5 + activation: lrelu + norm: None + crop_augmentation: true + transform_augmentation: + apply_se3: true + aug_xyz: + - 0.125 + - 0.125 + - 0.125 + aug_rpy: + - 0.0 + - 0.0 + - 45.0 + aug_rot_resolution: ${method.rotation_resolution} + demo_augmentation: true + demo_augmentation_every_n: 10 + no_skip_connection: false + no_perceiver: false + no_language: false + keypoint_method: heuristic +rlbench: + task_name: perlf_release_dual_push_buttons_smoke1 + tasks: + - dual_push_buttons + demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root + episode_length: 25 + cameras: + - over_shoulder_left + - over_shoulder_right + - overhead + - wrist_right + - wrist_left + - front + camera_resolution: + - 256 + - 256 + scene_bounds: + - -0.3 + - -0.5 + - 0.6 + - 0.7 + - 0.5 + - 1.6 + include_lang_goal_in_obs: true + time_in_state: true + headless: true + gripper_mode: BimanualDiscrete + arm_action_mode: BimanualEndEffectorPoseViaPlanning + action_mode: BimanualMoveArmThenGripper +framework: + tensorboard_logging: true + csv_logging: true + gpu: 0 + logdir: /workspace/baselines/AnyBimanual_release_eval_live + start_seed: 0 + record_every_n: 5 + eval_envs: 1 + eval_from_eps_number: 0 + eval_episodes: 5 + eval_type: 60000 + eval_save_metrics: true +cinematic_recorder: + enabled: false + camera_resolution: + - 1280 + - 720 + fps: 30 + rotate_speed: 0.005 + save_path: /tmp/videos/ + +[2026-03-31 23:03:30,615][root][INFO] - Using env device cuda:0. +[2026-03-31 23:03:30,617][root][INFO] - Evaluating seed 0. +[2026-03-31 23:03:30,618][root][INFO] - Using method PERACT_BC with type leader_follower +Weight: [60000] +[03/31/26 23:04:12] INFO INFO:root:eval_env: _independent_env_runner.py:131 + Launching env. + INFO INFO:root:Agent _independent_env_runner.py:134 + information: + INFO INFO:root: +[03/31/26 23:04:14] INFO INFO:root:Using dual panda robot environment.py:117 + INFO INFO:root:Setting control arm_action_modes.py:79 + mode for both robots + WARNING WARNING:root:not sure how task_environment.py:57 + _robot_shapes are used is + used. + INFO INFO:root:Evaluating _independent_env_runner.py:165 + weight 60000 +loaded weights from /workspace/baselines/AnyBimanual_release_eval_live/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt +loaded weights from /workspace/baselines/AnyBimanual_release_eval_live/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt + INFO INFO:root:eval_env: _independent_env_runner.py:192 + Starting episode 0, + seed 0. +[03/31/26 23:04:45] INFO INFO:root:total waypoints 4, (right=2, task.py:368 + left=2) +Evaluating bimanual_dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons +[03/31/26 23:05:21] INFO INFO:root:eval_env: _independent_env_runner.py:192 + Starting episode 1, + seed 1. +[03/31/26 23:06:00] INFO INFO:root:total waypoints 4, (right=2, task.py:368 + left=2) +Evaluating bimanual_dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons +[03/31/26 23:06:28] INFO INFO:root:eval_env: _independent_env_runner.py:192 + Starting episode 2, + seed 2. +[03/31/26 23:07:02] INFO INFO:root:total waypoints 4, (right=2, task.py:368 + left=2) +Evaluating bimanual_dual_push_buttons | Episode 2 | Score: 100.0 | Lang Goal: push the violet and the blue buttons +[03/31/26 23:07:17] INFO INFO:root:eval_env: _independent_env_runner.py:192 + Starting episode 3, + seed 3. +[03/31/26 23:07:50] INFO INFO:root:total waypoints 4, (right=2, task.py:368 + left=2) +Evaluating bimanual_dual_push_buttons | Episode 3 | Score: 100.0 | Lang Goal: push the green and the violet buttons +[03/31/26 23:07:58] INFO INFO:root:eval_env: _independent_env_runner.py:192 + Starting episode 4, + seed 4. +[03/31/26 23:08:38] INFO INFO:root:total waypoints 4, (right=2, task.py:368 + left=2) +Evaluating bimanual_dual_push_buttons | Episode 4 | Score: 100.0 | Lang Goal: push the olive and the violet buttons +Finished bimanual_dual_push_buttons | Final Score: 60.0 + +moviepy is installed, but can't import moviepy.editor. Some packages could be missing [imageio, requests] +[03/31/26 23:09:00] INFO INFO:root:Finished _independent_env_runner.py:293 + evaluation. +[CoppeliaSim:loadinfo] done. diff --git a/reports/anybimanual_anchor_bridge/adapter_noop_ep5/summary.json b/reports/anybimanual_anchor_bridge/adapter_noop_ep5/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..eaf2635a8425fd855c09be3b1f25e17bd1ad2e08 --- /dev/null +++ b/reports/anybimanual_anchor_bridge/adapter_noop_ep5/summary.json @@ -0,0 +1,41 @@ +{ + "adapter_mode": "adapter_noop", + "task_name": "perlf_release_dual_push_buttons_smoke1", + "tasks": [ + "dual_push_buttons" + ], + "task_families": [ + "generic" + ], + "passthrough_only": true, + "passthrough_reason": "generic_task_family", + "episodes_requested": 5, + "episode_scores": [ + 0.0, + 0.0, + 100.0, + 100.0, + 100.0 + ], + "mean_score": 60.0, + "final_score": 60.0, + "subprocess_returncode": 0, + "command": [ + "/workspace/envs/rlbench/bin/python", + "/workspace/third_party/AnyBimanual/eval.py", + "method=PERACT_BC", + "framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live", + "framework.start_seed=0", + "framework.eval_type=60000", + "framework.eval_episodes=5", + "framework.eval_envs=1", + "framework.gpu=0", + "rlbench.task_name=perlf_release_dual_push_buttons_smoke1", + "rlbench.tasks=[dual_push_buttons]", + "rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root", + "rlbench.headless=True", + "rlbench.gripper_mode=BimanualDiscrete", + "rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning", + "rlbench.action_mode=BimanualMoveArmThenGripper" + ] +} diff --git a/reports/anybimanual_anchor_bridge/trunk_only_ep25/command.txt b/reports/anybimanual_anchor_bridge/trunk_only_ep25/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..5f97d7075bd5d4e1eb8fe0d10a5d3dd6b1b6bdd3 --- /dev/null +++ b/reports/anybimanual_anchor_bridge/trunk_only_ep25/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=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 diff --git a/reports/anybimanual_anchor_bridge/trunk_only_ep25/stderr.txt b/reports/anybimanual_anchor_bridge/trunk_only_ep25/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..ec5cb0ba495f915e85a324e6b17a7b226513296e --- /dev/null +++ b/reports/anybimanual_anchor_bridge/trunk_only_ep25/stderr.txt @@ -0,0 +1,36 @@ +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information + warnings.warn(msg, UserWarning) +/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'. +See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information + deprecation_warning( +/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default. +See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information. + ret = run_job( +/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. + from pkg_resources import parse_version +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. + from pkg_resources import parse_version +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +qt.qpa.plugin: Could not find the Qt platform plugin "xcb" in "" +This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem. + +[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors] diff --git a/reports/anybimanual_anchor_bridge/trunk_only_ep25/stdout.txt b/reports/anybimanual_anchor_bridge/trunk_only_ep25/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..870a7a628e35dc8a83a2686239df0d017e2cf296 --- /dev/null +++ b/reports/anybimanual_anchor_bridge/trunk_only_ep25/stdout.txt @@ -0,0 +1,121 @@ +[2026-03-31 23:32:28,801][root][INFO] - +method: + name: PERACT_BC + agent_type: leader_follower + robot_name: bimanual + image_crop_size: 64 + bounds_offset: + - 0.15 + voxel_sizes: + - 100 + include_prev_layer: false + num_latents: 2048 + latent_dim: 512 + transformer_depth: 6 + transformer_iterations: 1 + cross_heads: 1 + cross_dim_head: 64 + latent_heads: 8 + latent_dim_head: 64 + pos_encoding_with_lang: true + conv_downsample: true + lang_fusion_type: seq + voxel_patch_size: 5 + voxel_patch_stride: 5 + final_dim: 64 + low_dim_size: 4 + input_dropout: 0.1 + attn_dropout: 0.1 + decoder_dropout: 0.0 + lr: 0.0005 + lr_scheduler: false + num_warmup_steps: 3000 + optimizer: lamb + lambda_weight_l2: 1.0e-06 + trans_loss_weight: 1.0 + rot_loss_weight: 1.0 + grip_loss_weight: 1.0 + collision_loss_weight: 1.0 + rotation_resolution: 5 + activation: lrelu + norm: None + crop_augmentation: true + transform_augmentation: + apply_se3: true + aug_xyz: + - 0.125 + - 0.125 + - 0.125 + aug_rpy: + - 0.0 + - 0.0 + - 45.0 + aug_rot_resolution: ${method.rotation_resolution} + demo_augmentation: true + demo_augmentation_every_n: 10 + no_skip_connection: false + no_perceiver: false + no_language: false + keypoint_method: heuristic +rlbench: + task_name: perlf_release_dual_push_buttons_smoke1 + tasks: + - dual_push_buttons + demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root + episode_length: 25 + cameras: + - over_shoulder_left + - over_shoulder_right + - overhead + - wrist_right + - wrist_left + - front + camera_resolution: + - 256 + - 256 + scene_bounds: + - -0.3 + - -0.5 + - 0.6 + - 0.7 + - 0.5 + - 1.6 + include_lang_goal_in_obs: true + time_in_state: true + headless: true + gripper_mode: BimanualDiscrete + arm_action_mode: BimanualEndEffectorPoseViaPlanning + action_mode: BimanualMoveArmThenGripper +framework: + tensorboard_logging: true + csv_logging: true + gpu: 0 + logdir: /workspace/baselines/AnyBimanual_release_eval_live + start_seed: 0 + record_every_n: 5 + eval_envs: 1 + eval_from_eps_number: 0 + eval_episodes: 25 + eval_type: 60000 + eval_save_metrics: true +cinematic_recorder: + enabled: false + camera_resolution: + - 1280 + - 720 + fps: 30 + rotate_speed: 0.005 + save_path: /tmp/videos/ + +[2026-03-31 23:32:28,811][root][INFO] - Using env device cuda:0. +[2026-03-31 23:32:28,812][root][INFO] - Evaluating seed 0. +[2026-03-31 23:32:28,812][root][INFO] - Using method PERACT_BC with type leader_follower +Weight: [60000] +[03/31/26 23:33:05] INFO INFO:root:eval_env: _independent_env_runner.py:131 + Launching env. + INFO INFO:root:Agent _independent_env_runner.py:134 + information: + INFO INFO:root: diff --git a/reports/anybimanual_anchor_bridge/trunk_only_ep25/summary.json b/reports/anybimanual_anchor_bridge/trunk_only_ep25/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..96b26d9c5a5be9b02e80d4dc916c613bcfa77c7a --- /dev/null +++ b/reports/anybimanual_anchor_bridge/trunk_only_ep25/summary.json @@ -0,0 +1,35 @@ +{ + "adapter_mode": "trunk_only", + "task_name": "perlf_release_dual_push_buttons_smoke1", + "tasks": [ + "dual_push_buttons" + ], + "task_families": [ + "generic" + ], + "passthrough_only": true, + "passthrough_reason": "generic_task_family", + "episodes_requested": 25, + "episode_scores": [], + "mean_score": 0.0, + "final_score": null, + "subprocess_returncode": 0, + "command": [ + "/workspace/envs/rlbench/bin/python", + "/workspace/third_party/AnyBimanual/eval.py", + "method=PERACT_BC", + "framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live", + "framework.start_seed=0", + "framework.eval_type=60000", + "framework.eval_episodes=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" + ] +} diff --git a/reports/anybimanual_anchor_bridge/trunk_only_ep5/command.txt b/reports/anybimanual_anchor_bridge/trunk_only_ep5/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..bae18a03f5953a9c25d84ed3a1a8793202805d95 --- /dev/null +++ b/reports/anybimanual_anchor_bridge/trunk_only_ep5/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/baselines/AnyBimanual_release_eval_live framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=5 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke1 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper diff --git a/reports/anybimanual_anchor_bridge/trunk_only_ep5/stderr.txt b/reports/anybimanual_anchor_bridge/trunk_only_ep5/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2d8fd8ab547c2db97972072750748d8f112763f0 --- /dev/null +++ b/reports/anybimanual_anchor_bridge/trunk_only_ep5/stderr.txt @@ -0,0 +1,35 @@ +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information + warnings.warn(msg, UserWarning) +/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'. +See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information + deprecation_warning( +/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default. +See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information. + ret = run_job( +/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. + from pkg_resources import parse_version +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81. + from pkg_resources import parse_version +/workspace/third_party/AnyBimanual/eval.py:183: UserWarning: +The version_base parameter is not specified. +Please specify a compatability version level, or None. +Will assume defaults for version 1.1 + @hydra.main(config_name="eval", config_path="conf") +/workspace/third_party/YARR/yarr/utils/rollout_generator.py:73: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /opt/conda/conda-bld/pytorch_1716905979055/work/torch/csrc/utils/tensor_new.cpp:274.) + prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()} +[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors] diff --git a/reports/anybimanual_anchor_bridge/trunk_only_ep5/stdout.txt b/reports/anybimanual_anchor_bridge/trunk_only_ep5/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..52623b569997e8fe54b1a2793dda23933119bced --- /dev/null +++ b/reports/anybimanual_anchor_bridge/trunk_only_ep5/stdout.txt @@ -0,0 +1,167 @@ +[2026-03-31 22:50:11,766][root][INFO] - +method: + name: PERACT_BC + agent_type: leader_follower + robot_name: bimanual + image_crop_size: 64 + bounds_offset: + - 0.15 + voxel_sizes: + - 100 + include_prev_layer: false + num_latents: 2048 + latent_dim: 512 + transformer_depth: 6 + transformer_iterations: 1 + cross_heads: 1 + cross_dim_head: 64 + latent_heads: 8 + latent_dim_head: 64 + pos_encoding_with_lang: true + conv_downsample: true + lang_fusion_type: seq + voxel_patch_size: 5 + voxel_patch_stride: 5 + final_dim: 64 + low_dim_size: 4 + input_dropout: 0.1 + attn_dropout: 0.1 + decoder_dropout: 0.0 + lr: 0.0005 + lr_scheduler: false + num_warmup_steps: 3000 + optimizer: lamb + lambda_weight_l2: 1.0e-06 + trans_loss_weight: 1.0 + rot_loss_weight: 1.0 + grip_loss_weight: 1.0 + collision_loss_weight: 1.0 + rotation_resolution: 5 + activation: lrelu + norm: None + crop_augmentation: true + transform_augmentation: + apply_se3: true + aug_xyz: + - 0.125 + - 0.125 + - 0.125 + aug_rpy: + - 0.0 + - 0.0 + - 45.0 + aug_rot_resolution: ${method.rotation_resolution} + demo_augmentation: true + demo_augmentation_every_n: 10 + no_skip_connection: false + no_perceiver: false + no_language: false + keypoint_method: heuristic +rlbench: + task_name: perlf_release_dual_push_buttons_smoke1 + tasks: + - dual_push_buttons + demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root + episode_length: 25 + cameras: + - over_shoulder_left + - over_shoulder_right + - overhead + - wrist_right + - wrist_left + - front + camera_resolution: + - 256 + - 256 + scene_bounds: + - -0.3 + - -0.5 + - 0.6 + - 0.7 + - 0.5 + - 1.6 + include_lang_goal_in_obs: true + time_in_state: true + headless: true + gripper_mode: BimanualDiscrete + arm_action_mode: BimanualEndEffectorPoseViaPlanning + action_mode: BimanualMoveArmThenGripper +framework: + tensorboard_logging: true + csv_logging: true + gpu: 0 + logdir: /workspace/baselines/AnyBimanual_release_eval_live + start_seed: 0 + record_every_n: 5 + eval_envs: 1 + eval_from_eps_number: 0 + eval_episodes: 5 + eval_type: 60000 + eval_save_metrics: true +cinematic_recorder: + enabled: false + camera_resolution: + - 1280 + - 720 + fps: 30 + rotate_speed: 0.005 + save_path: /tmp/videos/ + +[2026-03-31 22:50:11,776][root][INFO] - Using env device cuda:0. +[2026-03-31 22:50:11,777][root][INFO] - Evaluating seed 0. +[2026-03-31 22:50:11,777][root][INFO] - Using method PERACT_BC with type leader_follower +Weight: [60000] +[03/31/26 22:50:48] INFO INFO:root:eval_env: _independent_env_runner.py:131 + Launching env. + INFO INFO:root:Agent _independent_env_runner.py:134 + information: + INFO INFO:root: +[03/31/26 22:50:49] INFO INFO:root:Using dual panda robot environment.py:117 + INFO INFO:root:Setting control arm_action_modes.py:79 + mode for both robots + WARNING WARNING:root:not sure how task_environment.py:57 + _robot_shapes are used is + used. + INFO INFO:root:Evaluating _independent_env_runner.py:165 + weight 60000 +loaded weights from /workspace/baselines/AnyBimanual_release_eval_live/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt +loaded weights from /workspace/baselines/AnyBimanual_release_eval_live/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt +[03/31/26 22:50:50] INFO INFO:root:eval_env: _independent_env_runner.py:192 + Starting episode 0, + seed 0. +[03/31/26 22:51:22] INFO INFO:root:total waypoints 4, (right=2, task.py:368 + left=2) +Evaluating bimanual_dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons +[03/31/26 22:51:56] INFO INFO:root:eval_env: _independent_env_runner.py:192 + Starting episode 1, + seed 1. +[03/31/26 22:52:40] INFO INFO:root:total waypoints 4, (right=2, task.py:368 + left=2) +Evaluating bimanual_dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons +[03/31/26 22:53:06] INFO INFO:root:eval_env: _independent_env_runner.py:192 + Starting episode 2, + seed 2. +[03/31/26 22:53:40] INFO INFO:root:total waypoints 4, (right=2, task.py:368 + left=2) +Evaluating bimanual_dual_push_buttons | Episode 2 | Score: 100.0 | Lang Goal: push the violet and the blue buttons +[03/31/26 22:54:10] INFO INFO:root:eval_env: _independent_env_runner.py:192 + Starting episode 3, + seed 3. +[03/31/26 22:54:44] INFO INFO:root:total waypoints 4, (right=2, task.py:368 + left=2) +Evaluating bimanual_dual_push_buttons | Episode 3 | Score: 0.0 | Lang Goal: push the green and the violet buttons +[03/31/26 22:55:18] INFO INFO:root:eval_env: _independent_env_runner.py:192 + Starting episode 4, + seed 4. +[03/31/26 22:56:00] INFO INFO:root:total waypoints 4, (right=2, task.py:368 + left=2) +Evaluating bimanual_dual_push_buttons | Episode 4 | Score: 0.0 | Lang Goal: push the olive and the violet buttons +Finished bimanual_dual_push_buttons | Final Score: 20.0 + +moviepy is installed, but can't import moviepy.editor. Some packages could be missing [imageio, requests] +[03/31/26 22:56:42] INFO INFO:root:Finished _independent_env_runner.py:293 + evaluation. +[CoppeliaSim:loadinfo] done. diff --git a/reports/anybimanual_anchor_bridge/trunk_only_ep5/summary.json b/reports/anybimanual_anchor_bridge/trunk_only_ep5/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..e2da9453c30a514e895f16a648b6469fbec02cbc --- /dev/null +++ b/reports/anybimanual_anchor_bridge/trunk_only_ep5/summary.json @@ -0,0 +1,41 @@ +{ + "adapter_mode": "trunk_only", + "task_name": "perlf_release_dual_push_buttons_smoke1", + "tasks": [ + "dual_push_buttons" + ], + "task_families": [ + "generic" + ], + "passthrough_only": true, + "passthrough_reason": "generic_task_family", + "episodes_requested": 5, + "episode_scores": [ + 0.0, + 0.0, + 100.0, + 0.0, + 0.0, + 20.0 + ], + "mean_score": 20.0, + "subprocess_returncode": 0, + "command": [ + "/workspace/envs/rlbench/bin/python", + 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The eggplant is placed inside the basket region and must be pulled back out to a staging zone.", + "train_spec": { + "track_id": "bag_track", + "suite": "maniskill3", + "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1", + "model_variant": "adapter_active_ft", + "seed": 17, + "train_demos": 32, + "val_demos": 8, + "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", + "optimizer": "adamw", + "learning_rate": 0.0001, + "lr_schedule": "constant", + "batch_size": 4, + "augmentations": "none", + "early_stopping_metric": "val_total", + "max_gradient_steps": 114, + "unfreeze_scope": "fusion_memory_decoder", + "dataset_split_id": "bag_bridge_smoke_v1_seed17", + "same_data_policy": true, + "same_init_policy": true + } +} diff --git a/reports/maniskill_bag_bridge_eval_less_bonus_seed17/adapter_noop_seed17.json 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"suite": "maniskill3", + "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1", + "role": "target", + "eval_mode": "adapter_noop", + "seed": 17, + "episodes": 50, + "resolution": 224, + "cameras": [ + "front", + "left", + "right" + ], + "observation_stack": "rgb_triplicate_zero_depth", + "action_horizon": 8, + "action_space": "widowx_delta_pose", + "same_test_episodes": true + }, + "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." +} diff --git a/reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.json b/reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..daf7793c832f0678d0df8a58217b8b44ce7858a0 --- /dev/null +++ b/reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.json @@ -0,0 +1,62 @@ +{ + "anchor_pass": true, + "available_tracks": [ + "bag_track" + ], + "ci_above_zero_tracks": [], + "headline_pass": false, + "package_name": "public_reveal_retrieve_package_v1", + "sign_of_life_pass": false, + "sign_of_life_track_count": 1, + "sign_of_life_tracks": [ + "bag_track" + ], + "target_macro_average_delta": 0.1599999964237213, + "tracks": { + "bag_track": { + "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1", + "delta_active_vs_trunk": 0.1599999964237213, + "delta_active_vs_trunk_ci95": [ + -0.03999999165534973, + 0.3400000333786011 + ], + "delta_noop_vs_trunk": -0.3199999928474426, + "modes": { + "adapter_active_ft": { + "disturbance_proxy": 0.0, + "intervention_rate": 1.0, + "mean_success": 0.47999998927116394, + "non_base_selection_rate": 1.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0 + }, + "adapter_noop": { + "disturbance_proxy": 0.0, + "intervention_rate": 0.0, + "mean_success": 0.0, + "non_base_selection_rate": 0.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 4.0, + "steps_to_retrieve": 4.0 + }, + "trunk_only_ft": { + "disturbance_proxy": 0.0, + "intervention_rate": 0.0, + "mean_success": 0.3199999928474426, + "non_base_selection_rate": 0.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0 + } + }, + "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.", + "public_source": "ManiSkill public scene proxy: PutEggplantInBasketScene-v1", + "role": "target", + "signs_of_life": true, + "suite": "maniskill3", + "target_behavior": "retrieve the target object from inside the basket and stage it outside the basket", + "task_family": "bag_retrieval_proxy" + } + } +} diff --git a/reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.md b/reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.md new file mode 100644 index 0000000000000000000000000000000000000000..d27590de07de0fcb41b9f30eb8e86f4faf5a35ee --- /dev/null +++ b/reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.md @@ -0,0 +1,15 @@ +# ManiSkill Bag Retrieval Smoke Summary + +- benchmark_task: PutEggplantInBasketRetrievalProxy-v1 +- target_macro_average_delta: 0.160 +- headline_pass: False +- sign_of_life_pass: False + +## bag_track +- delta_active_vs_trunk: 0.160 +- delta_noop_vs_trunk: -0.320 +- signs_of_life: True +- delta_active_vs_trunk_ci95: [-0.040, 0.340] +- trunk_only_ft: mean_success=0.320 +- adapter_noop: mean_success=0.000 +- adapter_active_ft: mean_success=0.480 diff --git a/reports/maniskill_bag_bridge_eval_less_bonus_seed17/trunk_only_ft_seed17.json b/reports/maniskill_bag_bridge_eval_less_bonus_seed17/trunk_only_ft_seed17.json new file mode 100644 index 0000000000000000000000000000000000000000..263053ea1f9b626690cdbe560c684c9d81533a63 --- /dev/null +++ b/reports/maniskill_bag_bridge_eval_less_bonus_seed17/trunk_only_ft_seed17.json @@ -0,0 +1,509 @@ +{ + "track_id": "bag_track", + "suite": "maniskill3", + "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1", + "role": "target", + "adapter_mode": "trunk_only_ft", + "episodes": 50, + "successes": [ + 0, + 0, + 0, + 1, + 0, + 0, + 0, + 0, + 0, + 1, + 1, + 0, + 0, + 1, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, 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The eggplant is placed inside the basket region and must be pulled back out to a staging zone.", + "train_spec": { + "track_id": "bag_track", + "suite": "maniskill3", + "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1", + "model_variant": "trunk_only_ft", + "seed": 17, + "train_demos": 32, + "val_demos": 8, + "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", + "optimizer": "adamw", + "learning_rate": 0.0001, + "lr_schedule": "constant", + "batch_size": 4, + "augmentations": "none", + "early_stopping_metric": "val_total", + "max_gradient_steps": 114, + "unfreeze_scope": "fusion_memory_decoder", + "dataset_split_id": "bag_bridge_smoke_v1_seed17", + "same_data_policy": true, + "same_init_policy": true + } +} diff --git a/reports/maniskill_bag_bridge_eval_less_bonus_seed23/adapter_active_ft_seed23.json 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The eggplant is placed inside the basket region and must be pulled back out to a staging zone." +} diff --git a/reports/maniskill_bag_bridge_eval_less_bonus_seed23/public_benchmark_package_summary.json b/reports/maniskill_bag_bridge_eval_less_bonus_seed23/public_benchmark_package_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..65d8ec38cf58572c3b1adf8000b37997fa4d7cb9 --- /dev/null +++ b/reports/maniskill_bag_bridge_eval_less_bonus_seed23/public_benchmark_package_summary.json @@ -0,0 +1,60 @@ +{ + "anchor_pass": true, + "available_tracks": [ + "bag_track" + ], + "ci_above_zero_tracks": [], + "headline_pass": false, + "package_name": "public_reveal_retrieve_package_v1", + "sign_of_life_pass": false, + "sign_of_life_track_count": 0, + "sign_of_life_tracks": [], + "target_macro_average_delta": 0.0, + "tracks": { + "bag_track": { + "benchmark_task": "PutEggplantInBasketRetrievalProxy-v1", + "delta_active_vs_trunk": 0.0, + "delta_active_vs_trunk_ci95": [ + -0.18000003695487976, + 0.20000001788139343 + ], + "delta_noop_vs_trunk": -0.3999999910593033, + "modes": { + "adapter_active_ft": { + "disturbance_proxy": 0.0, + "intervention_rate": 1.0, + "mean_success": 0.47999998927116394, + "non_base_selection_rate": 1.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0 + }, + "adapter_noop": { + "disturbance_proxy": 0.0, + "intervention_rate": 0.0, + "mean_success": 0.07999999821186066, + "non_base_selection_rate": 0.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0 + }, + "trunk_only_ft": { + "disturbance_proxy": 0.0, + "intervention_rate": 0.0, + "mean_success": 0.47999998927116394, + "non_base_selection_rate": 0.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0 + } + }, + "notes": "Public ManiSkill bridge scene with custom retrieval initialization. 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true + }, + "train_spec": { + "track_id": "occlusion_track", + "suite": "maniskill3", + "benchmark_task": "PickClutterYCB-v1", + "model_variant": "adapter_active_ft", + "seed": 17, + "train_demos": 32, + "val_demos": 8, + "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", + "optimizer": "adamw", + "learning_rate": 0.0001, + "lr_schedule": "constant", + "batch_size": 4, + "augmentations": "none", + "early_stopping_metric": "val_total", + "max_gradient_steps": 144, + "unfreeze_scope": "fusion_memory_decoder", + "dataset_split_id": "pickclutter_smoke_seed17", + "same_data_policy": true, + "same_init_policy": true + } +} diff --git a/reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.json b/reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..40eb68b57d12ef7e090d7365b2522fe16a741317 --- /dev/null +++ b/reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.json @@ -0,0 +1,60 @@ +{ + "anchor_pass": true, + "available_tracks": [ + "occlusion_track" + ], + "ci_above_zero_tracks": [], + "headline_pass": false, + "package_name": "public_reveal_retrieve_package_v1", + "sign_of_life_pass": false, + "sign_of_life_track_count": 0, + "sign_of_life_tracks": [], + "target_macro_average_delta": 0.0, + "tracks": { + "occlusion_track": { + "benchmark_task": "PickClutterYCB-v1", + "delta_active_vs_trunk": 0.0, + "delta_active_vs_trunk_ci95": [ + -0.07999999821186066, + 0.07999999821186066 + ], + "delta_noop_vs_trunk": 0.0, + "modes": { + "adapter_active_ft": { + "disturbance_proxy": 0.044149198573813955, + "intervention_rate": 0.0, + "mean_success": 0.03999999910593033, + "non_base_selection_rate": 0.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 4.0, + "steps_to_retrieve": 4.0 + }, + "adapter_noop": { + "disturbance_proxy": 0.22772394362117063, + "intervention_rate": 0.0, + "mean_success": 0.03999999910593033, + "non_base_selection_rate": 0.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0 + }, + "trunk_only_ft": { + "disturbance_proxy": 0.22900254205053194, + "intervention_rate": 0.0, + "mean_success": 0.03999999910593033, + "non_base_selection_rate": 0.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0 + } + }, + "notes": "Closest maintained public occluded retrieval task. Treat as the canopy / dense occlusion proxy.", + "public_source": "https://maniskill.readthedocs.io/en/latest/tasks/table_top_gripper/index.html", + "role": "target", + "signs_of_life": false, + "suite": "maniskill3", + "target_behavior": "retrieve a target object from dense occluding clutter", + "task_family": "dense_occluded_retrieval" + } + } +} diff --git a/reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.md b/reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.md new file mode 100644 index 0000000000000000000000000000000000000000..373429a0db9055562dfe0d3141c474c82b6d4c4c --- /dev/null +++ b/reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.md @@ -0,0 +1,14 @@ +# ManiSkill PickClutter Smoke Summary + +- available_tracks: ['occlusion_track'] +- target_macro_average_delta: 0.000 +- headline_pass: False +- sign_of_life_pass: False + +## occlusion_track +- delta_active_vs_trunk: 0.000 +- delta_noop_vs_trunk: 0.000 +- signs_of_life: False +- trunk_only_ft: mean_success=0.040 +- adapter_noop: mean_success=0.040 +- adapter_active_ft: mean_success=0.040 diff --git a/reports/maniskill_pickclutter_smoke/trunk_only_ft_seed17.json b/reports/maniskill_pickclutter_smoke/trunk_only_ft_seed17.json new file mode 100644 index 0000000000000000000000000000000000000000..3ff08a5e37e52a0091028f1215b3b7e3a62c4ff7 --- /dev/null +++ b/reports/maniskill_pickclutter_smoke/trunk_only_ft_seed17.json @@ -0,0 +1,508 @@ +{ + "track_id": "occlusion_track", + "suite": "maniskill3", + "benchmark_task": "PickClutterYCB-v1", + "role": "target", + "adapter_mode": "trunk_only_ft", + "episodes": 50, + "successes": [ + 0, + 0, + 1, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "success_rate": 0.04, + "intervention_rate": 0.0, + 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true + }, + "train_spec": { + "track_id": "occlusion_track", + "suite": "maniskill3", + "benchmark_task": "PickClutterYCB-v1", + "model_variant": "adapter_active_ft", + "seed": 17, + "train_demos": 32, + "val_demos": 8, + "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", + "optimizer": "adamw", + "learning_rate": 0.0001, + "lr_schedule": "constant", + "batch_size": 4, + "augmentations": "none", + "early_stopping_metric": "val_total", + "max_gradient_steps": 144, + "unfreeze_scope": "fusion_memory_decoder", + "dataset_split_id": "pickclutter_smoke_v4_seed17", + "same_data_policy": true, + "same_init_policy": true + } +} diff --git a/reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.json b/reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..f63a108016734ce495fe5811efb0a3c9611353ca --- /dev/null +++ b/reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.json @@ -0,0 +1,60 @@ +{ + "anchor_pass": true, + "available_tracks": [ + "occlusion_track" + ], + "ci_above_zero_tracks": [], + "headline_pass": false, + "package_name": "public_reveal_retrieve_package_v1", + "sign_of_life_pass": false, + "sign_of_life_track_count": 0, + "sign_of_life_tracks": [], + "target_macro_average_delta": -0.4399999901652336, + "tracks": { + "occlusion_track": { + "benchmark_task": "PickClutterYCB-v1", + "delta_active_vs_trunk": -0.4399999901652336, + "delta_active_vs_trunk_ci95": [ + -0.5999999642372131, + -0.29999998211860657 + ], + "delta_noop_vs_trunk": -0.4399999901652336, + "modes": { + "adapter_active_ft": { + "disturbance_proxy": 0.044149198573813955, + "intervention_rate": 1.0, + "mean_success": 0.03999999910593033, + "non_base_selection_rate": 1.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 4.0, + "steps_to_retrieve": 4.0 + }, + "adapter_noop": { + "disturbance_proxy": 0.22772394362117063, + "intervention_rate": 0.0, + "mean_success": 0.03999999910593033, + "non_base_selection_rate": 0.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0 + }, + "trunk_only_ft": { + "disturbance_proxy": 0.2100884334183511, + "intervention_rate": 0.0, + "mean_success": 0.47999998927116394, + "non_base_selection_rate": 0.0, + "num_runs": 1, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0 + } + }, + "notes": "Closest maintained public occluded retrieval task. Treat as the canopy / dense occlusion proxy.", + "public_source": "https://maniskill.readthedocs.io/en/latest/tasks/table_top_gripper/index.html", + "role": "target", + "signs_of_life": false, + "suite": "maniskill3", + "target_behavior": "retrieve a target object from dense occluding clutter", + "task_family": "dense_occluded_retrieval" + } + } +} diff --git a/reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.md b/reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.md new file mode 100644 index 0000000000000000000000000000000000000000..3e497690b24a1949bdf729a4e9a7225b4a932a15 --- /dev/null +++ b/reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.md @@ -0,0 +1,14 @@ +# ManiSkill PickClutter Smoke Summary + +- available_tracks: ['occlusion_track'] +- target_macro_average_delta: -0.440 +- headline_pass: False +- sign_of_life_pass: False + +## occlusion_track +- delta_active_vs_trunk: -0.440 +- delta_noop_vs_trunk: -0.440 +- signs_of_life: False +- trunk_only_ft: mean_success=0.480 +- adapter_noop: mean_success=0.040 +- adapter_active_ft: mean_success=0.040 diff --git a/reports/maniskill_pickclutter_smoke_v4/trunk_only_ft_seed17.json b/reports/maniskill_pickclutter_smoke_v4/trunk_only_ft_seed17.json new file mode 100644 index 0000000000000000000000000000000000000000..fdae4a3de9e06b7f9f40557d309f650243c4087d --- /dev/null +++ b/reports/maniskill_pickclutter_smoke_v4/trunk_only_ft_seed17.json @@ -0,0 +1,508 @@ +{ + "track_id": "occlusion_track", + "suite": "maniskill3", + "benchmark_task": "PickClutterYCB-v1", + "role": "target", + "adapter_mode": "trunk_only_ft", + "episodes": 50, + "successes": [ + 1, + 1, + 1, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 0, + 1, + 0, + 1, + 0, + 0, + 1, + 0, + 1, + 0, + 1, + 0, + 0, + 0, + 0, + 1, + 1, + 1, + 0, + 1, + 1, + 1, + 1, + 0, + 1, + 1, + 1, + 0, + 0, + 1, + 0, + 1, + 0, + 0, + 1, + 1, + 0, + 0, + 0, + 1 + ], + "success_rate": 0.48, + "intervention_rate": 0.0, + 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17, + "train_demos": 32, + "val_demos": 8, + "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", + "optimizer": "adamw", + "learning_rate": 0.0001, + "lr_schedule": "constant", + "batch_size": 4, + "augmentations": "none", + "early_stopping_metric": "val_total", + "max_gradient_steps": 144, + "unfreeze_scope": "fusion_memory_decoder", + "dataset_split_id": "pickclutter_smoke_v3_seed17", + "same_data_policy": true, + "same_init_policy": true + } +} diff --git a/reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/public_benchmark_package_summary.md b/reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/public_benchmark_package_summary.md new file mode 100644 index 0000000000000000000000000000000000000000..2cc2cac72fff0a72c3c2b5c06a6dfe17d189d181 --- /dev/null +++ b/reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/public_benchmark_package_summary.md @@ -0,0 +1,14 @@ +# ManiSkill PickClutter Smoke Summary + +- available_tracks: ['occlusion_track'] +- target_macro_average_delta: 0.560 +- headline_pass: True +- sign_of_life_pass: False + +## occlusion_track +- delta_active_vs_trunk: 0.560 +- delta_noop_vs_trunk: 0.000 +- signs_of_life: True +- trunk_only_ft: mean_success=0.060 +- adapter_noop: mean_success=0.060 +- adapter_active_ft: mean_success=0.620 diff --git a/reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/adapter_noop_seed17.json b/reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/adapter_noop_seed17.json new file mode 100644 index 0000000000000000000000000000000000000000..37b8ab4825433583211e8aa79beee679fa041bf8 --- /dev/null +++ b/reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/adapter_noop_seed17.json @@ -0,0 +1,508 @@ +{ + "track_id": "occlusion_track", + "suite": "maniskill3", + 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delta_active_vs_trunk: 0.580 +- delta_noop_vs_trunk: 0.000 +- signs_of_life: True +- trunk_only_ft: mean_success=0.040 +- adapter_noop: mean_success=0.040 +- adapter_active_ft: mean_success=0.620 diff --git a/reports/maniskill_pickclutter_smoke_v5_val_sweep/baseline_corrected.json b/reports/maniskill_pickclutter_smoke_v5_val_sweep/baseline_corrected.json new file mode 100644 index 0000000000000000000000000000000000000000..3963221f36ea0a9822327cbc91f85a4a9e2ff496 --- /dev/null +++ b/reports/maniskill_pickclutter_smoke_v5_val_sweep/baseline_corrected.json @@ -0,0 +1,130 @@ +{ + "track_id": "occlusion_track", + "suite": "maniskill3", + "benchmark_task": "PickClutterYCB-v1", + "role": "target", + "adapter_mode": "adapter_active_ft", + "episodes": 8, + "successes": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "success_rate": 0.0, + "intervention_rate": 1.0, + "non_base_selection_rate": 1.0, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0, + "disturbance_proxy": 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"seed": 17, + "train_demos": 32, + "val_demos": 8, + "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", + "optimizer": "adamw", + "learning_rate": 0.0001, + "lr_schedule": "constant", + "batch_size": 4, + "augmentations": "none", + "early_stopping_metric": "val_total", + "max_gradient_steps": 144, + "unfreeze_scope": "fusion_memory_decoder", + "dataset_split_id": "pickclutter_smoke_v5_seed17", + "same_data_policy": true, + "same_init_policy": true + } +} diff --git a/reports/maniskill_pickclutter_smoke_v5_val_sweep/retrieve_open.json b/reports/maniskill_pickclutter_smoke_v5_val_sweep/retrieve_open.json new file mode 100644 index 0000000000000000000000000000000000000000..6b3d97811d7e651318699224b386f65502451aef --- /dev/null +++ b/reports/maniskill_pickclutter_smoke_v5_val_sweep/retrieve_open.json @@ -0,0 +1,130 @@ +{ + "track_id": 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+ "optimizer": "adamw", + "learning_rate": 0.0001, + "lr_schedule": "constant", + "batch_size": 4, + "augmentations": "none", + "early_stopping_metric": "val_total", + "max_gradient_steps": 144, + "unfreeze_scope": "fusion_memory_decoder", + "dataset_split_id": "pickclutter_smoke_v5_seed17", + "same_data_policy": true, + "same_init_policy": true + } +} diff --git a/reports/maniskill_pickclutter_smoke_v5_val_sweep/softer_pref.json b/reports/maniskill_pickclutter_smoke_v5_val_sweep/softer_pref.json new file mode 100644 index 0000000000000000000000000000000000000000..6b3d97811d7e651318699224b386f65502451aef --- /dev/null +++ b/reports/maniskill_pickclutter_smoke_v5_val_sweep/softer_pref.json @@ -0,0 +1,130 @@ +{ + "track_id": "occlusion_track", + "suite": "maniskill3", + "benchmark_task": "PickClutterYCB-v1", + "role": "target", + "adapter_mode": "adapter_active_ft", + "episodes": 8, + "successes": [ + 0, + 1, + 0, + 1, + 1, + 1, + 0, + 1 + ], + "success_rate": 0.625, + "intervention_rate": 1.0, + "non_base_selection_rate": 1.0, + "steps_to_first_reveal_or_access": 4.0, + "steps_to_retrieve": 1.0, + "disturbance_proxy": 0.3273926259102362, + "episode_records": [ + { + "episode_seed": 171000, + "success": false, + "steps": 4, + "first_reveal_step": null, + "first_retrieve_step": 1, + "episode_disturbance": 0.2549034761694879 + }, + { + "episode_seed": 171001, + "success": true, + "steps": 1, + "first_reveal_step": null, + "first_retrieve_step": 1, + "episode_disturbance": 0.0884806492831558 + }, + { + "episode_seed": 171002, + "success": false, + "steps": 4, + "first_reveal_step": null, + "first_retrieve_step": 1, + "episode_disturbance": 0.04886797856864965 + }, + { + "episode_seed": 171003, + "success": true, + "steps": 2, + "first_reveal_step": null, + "first_retrieve_step": 1, + "episode_disturbance": 0.2976729531396435 + }, + { + "episode_seed": 171004, + "success": true, + "steps": 1, + "first_reveal_step": null, + "first_retrieve_step": 1, + "episode_disturbance": 0.5801342860498456 + }, + { + "episode_seed": 171005, + "success": true, + "steps": 3, + "first_reveal_step": null, + "first_retrieve_step": 1, + "episode_disturbance": 0.06244866167462316 + }, + { + "episode_seed": 171006, + "success": false, + "steps": 4, + "first_reveal_step": null, + "first_retrieve_step": 1, + "episode_disturbance": 0.4753621916185544 + }, + { + "episode_seed": 171007, + "success": true, + "steps": 3, + "first_reveal_step": null, + "first_retrieve_step": 1, + "episode_disturbance": 0.8112708107779301 + } + ], + "eval_protocol": { + "track_id": "occlusion_track", + "suite": "maniskill3", + "benchmark_task": "PickClutterYCB-v1", + "role": "target", + "eval_mode": "adapter_active_ft", + "seed": 17, + "episodes": 8, + "resolution": 224, + "cameras": [ + "front", + "left", + "right" + ], + "observation_stack": "rgbd_3cam", + "action_horizon": 8, + "action_space": "bimanual_delta_pose", + "same_test_episodes": true + }, + "train_spec": { + "track_id": "occlusion_track", + "suite": "maniskill3", + "benchmark_task": "PickClutterYCB-v1", + "model_variant": "adapter_active_ft", + "seed": 17, + "train_demos": 32, + "val_demos": 8, + "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", + "optimizer": "adamw", + "learning_rate": 0.0001, + "lr_schedule": "constant", + "batch_size": 4, + "augmentations": "none", + "early_stopping_metric": "val_total", + "max_gradient_steps": 144, + "unfreeze_scope": "fusion_memory_decoder", + "dataset_split_id": "pickclutter_smoke_v5_seed17", + "same_data_policy": true, + "same_init_policy": true + } +} diff --git a/reports/maniskill_pickclutter_smoke_v5_val_sweep/summary.json b/reports/maniskill_pickclutter_smoke_v5_val_sweep/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4a8bcc56a64de3cf0b87cf4eb1bc6b9ffc24ea13 --- /dev/null +++ b/reports/maniskill_pickclutter_smoke_v5_val_sweep/summary.json @@ -0,0 +1,34 @@ +{ + "baseline_corrected": { + "success_rate": 0.0, + "intervention_rate": 1.0, + "non_base_selection_rate": 1.0, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0, + "disturbance_proxy": 0.40647059777417166 + }, + "soft_pref": { + "success_rate": 0.0, + "intervention_rate": 1.0, + "non_base_selection_rate": 1.0, + "steps_to_first_reveal_or_access": 1.0, + "steps_to_retrieve": 4.0, + "disturbance_proxy": 0.3697114661369631 + }, + "softer_pref": { + "success_rate": 0.625, + "intervention_rate": 1.0, + "non_base_selection_rate": 1.0, + "steps_to_first_reveal_or_access": 4.0, + "steps_to_retrieve": 1.0, + "disturbance_proxy": 0.3273926259102362 + }, + "retrieve_open": { + "success_rate": 0.625, + "intervention_rate": 1.0, + "non_base_selection_rate": 1.0, + "steps_to_first_reveal_or_access": 4.0, + "steps_to_retrieve": 1.0, + "disturbance_proxy": 0.3273926259102362 + } +} diff --git a/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/command.txt b/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..a728c113c22d156317a29d76f521b5703da9183b --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_dual_push_buttons --resolution 224 --headless diff --git a/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stderr.txt b/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stdout.txt b/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..28d44fe0ebbaf50c6997a93240788ec4e4cc04a4 --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualDualPushButtons", + "description": "push the olive and the orange buttons", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/peract2_anchor_smoke_live/bimanual_handover_item/command.txt b/reports/peract2_anchor_smoke_live/bimanual_handover_item/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..a1097997bedab5fd569f3ea63eb7fe1444a8c37e --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_handover_item/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_handover_item --resolution 224 --headless diff --git a/reports/peract2_anchor_smoke_live/bimanual_handover_item/stderr.txt b/reports/peract2_anchor_smoke_live/bimanual_handover_item/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_handover_item/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/peract2_anchor_smoke_live/bimanual_handover_item/stdout.txt b/reports/peract2_anchor_smoke_live/bimanual_handover_item/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..13d371011df9418bee1a5f1b94d2654572894907 --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_handover_item/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualHandoverItem", + "description": "bring me the red item", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/peract2_anchor_smoke_live/bimanual_lift_ball/command.txt b/reports/peract2_anchor_smoke_live/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..9b469763faaf25b322b37dd0b6b3fa788a4c6fa9 --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_lift_ball --resolution 224 --headless diff --git a/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stderr.txt b/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stdout.txt b/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..6339602138f0992a15c39e7904e293bdfe1bdd62 --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_lift_ball/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualLiftBall", + "description": "Lift the ball", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/peract2_anchor_smoke_live/bimanual_lift_tray/command.txt b/reports/peract2_anchor_smoke_live/bimanual_lift_tray/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..2de31091a7209f2ce30537210dc184e5ca7052e6 --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_lift_tray/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_lift_tray --resolution 224 --headless diff --git a/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stderr.txt b/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stdout.txt b/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..416e0e36b8378f5691255806da0037b4eb822738 --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_lift_tray/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualLiftTray", + "description": "Lift the tray", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/peract2_anchor_smoke_live/bimanual_push_box/command.txt b/reports/peract2_anchor_smoke_live/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..328737b7efe0e6babbef31ddd7e79119fd9e9eb3 --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m sim_rlbench.launch_smoke --task bimanual_push_box --resolution 224 --headless diff --git a/reports/peract2_anchor_smoke_live/bimanual_push_box/stderr.txt b/reports/peract2_anchor_smoke_live/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b620517dfcfc87275f4170e7c1dc874cef513bc --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_push_box/stderr.txt @@ -0,0 +1 @@ +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/reports/peract2_anchor_smoke_live/bimanual_push_box/stdout.txt b/reports/peract2_anchor_smoke_live/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..d5e207a5132ae70695dcce13fec5547a4b2c1b99 --- /dev/null +++ b/reports/peract2_anchor_smoke_live/bimanual_push_box/stdout.txt @@ -0,0 +1,38 @@ +{ + "display": ":99", + "headless": true, + "task": "BimanualPushBox", + "description": "push the box to the red area", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] +} +[CoppeliaSim:loadinfo] done. diff --git a/reports/peract2_anchor_smoke_live/launch_smoke_summary.json b/reports/peract2_anchor_smoke_live/launch_smoke_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..72054364e0aad76976d2b4a7f8fc419fa0713628 --- /dev/null +++ b/reports/peract2_anchor_smoke_live/launch_smoke_summary.json @@ -0,0 +1,205 @@ +{ + "resolution": 224, + "headless": true, + "tasks": { + "bimanual_push_box": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualPushBox", + "description": "push the box to the red area", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_lift_ball": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualLiftBall", + "description": "Lift the ball", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_dual_push_buttons": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualDualPushButtons", + "description": "push the olive and the orange buttons", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_handover_item": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualHandoverItem", + "description": "bring me the red item", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + }, + "bimanual_lift_tray": { + "subprocess_returncode": 0, + "launch_ok": true, + "display": ":99", + "headless": true, + "task": "BimanualLiftTray", + "description": "Lift the tray", + "front_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_left_rgb_shape": [ + 224, + 224, + 3 + ], + "wrist_right_rgb_shape": [ + 224, + 224, + 3 + ], + "right_pose_shape": [ + 7 + ], + "left_pose_shape": [ + 7 + ], + "stepped_mode": "bimanual_noop", + "action_finite": true, + "action_dim": 18, + "reward": 0.0, + "done": false, + "front_rgb_shape_after_step": [ + 224, + 224, + 3 + ] + } + }, + "task_count": 5, + "launch_successes": 5, + "finite_action_tasks": 5, + "error_tasks": [] +} \ No newline at end of file diff --git a/reports/peract2_anchor_smoke_live/launch_smoke_summary.md b/reports/peract2_anchor_smoke_live/launch_smoke_summary.md new file mode 100644 index 0000000000000000000000000000000000000000..f4e2debf6d318289dc5aabd79d2cc349f199f85e --- /dev/null +++ b/reports/peract2_anchor_smoke_live/launch_smoke_summary.md @@ -0,0 +1,16 @@ +# PerAct2 13-Task Launch Smoke + +- Resolution: `224` +- Headless: `True` +- Task count: `5` +- Launch successes: `5` +- Finite-action tasks: `5` +- Error tasks: `[]` + +## Per-task + +- `bimanual_push_box`: launch_ok=True, action_finite=True, task_class=BimanualPushBox, reward=0.0 +- `bimanual_lift_ball`: launch_ok=True, action_finite=True, task_class=BimanualLiftBall, reward=0.0 +- `bimanual_dual_push_buttons`: launch_ok=True, action_finite=True, task_class=BimanualDualPushButtons, reward=0.0 +- `bimanual_handover_item`: launch_ok=True, action_finite=True, task_class=BimanualHandoverItem, reward=0.0 +- `bimanual_lift_tray`: launch_ok=True, action_finite=True, task_class=BimanualLiftTray, reward=0.0 diff --git a/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.json b/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..85f7aef36c6b02c06410b002485a7dd615696eb2 --- /dev/null +++ b/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + 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"chosen_candidate_family": "lift_edge", + "chosen_candidate_index": 1, + "task_name": "cloth", + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard" + } + ], + "chosen_candidate_families": [ + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge", + "lift_edge" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.08, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.18, + "corridor_scale": 1.0, + "support_stability_penalty": 0.12, + "collateral_bias": 0.12 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.md b/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..a2c3536473a541d2e30d9a29b7f2f832e66563f2 --- /dev/null +++ b/reports/proxy_base_aligned_fast_eval/active/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt +- episodes: 24.000 +- mean_success: 0.000 +- visibility_integral: 0.159 +- corridor_availability: 0.002 +- reocclusion_rate: 0.002 +- disturbance_cost: 0.686 +- premature_retrieve_rate: 0.798 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.002 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_base_aligned_fast_eval/noop/reveal_benchmark.json b/reports/proxy_base_aligned_fast_eval/noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b911dc8d961d6bfeb3f88ac07bc1e19b0eea49 --- /dev/null +++ b/reports/proxy_base_aligned_fast_eval/noop/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "one_sided_slip": 0.0 + }, + "cloth": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "fold_sensitive_long_persistence": 0.0 + } + }, + "visibility_integral": 0.159542116879796, + "corridor_availability": 0.0015432098880410194, + "reocclusion_rate": 0.0015625000000000003, + "disturbance_cost": 0.6762562873351642, + "premature_retrieve_rate": 0.8354166666666667, + "reocclusion_after_reveal_rate": 0.0, + "planner_regret": 0.046383516304194926, + "task_specific_metrics": { + "gap_width": 0.017008181086917925, + "damage_proxy": 0.6762562873351642, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.054931383087294026, + "hold_persistence": 0.7046628014728634, + 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a/reports/proxy_base_aligned_fast_eval/oracle/reveal_benchmark.md b/reports/proxy_base_aligned_fast_eval/oracle/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..74c33ce458803adb518ba3dbf1fb0b3bbdb2ab3d --- /dev/null +++ b/reports/proxy_base_aligned_fast_eval/oracle/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: oracle +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt +- episodes: 24.000 +- mean_success: 0.000 +- visibility_integral: 10.234 +- corridor_availability: 0.173 +- reocclusion_rate: 0.008 +- disturbance_cost: 0.655 +- premature_retrieve_rate: 0.811 +- reocclusion_after_reveal_rate: 0.250 +- planner_regret: 0.000 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_base_fast_eval/active/reveal_benchmark.json b/reports/proxy_base_fast_eval/active/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..39d560e7259e28af21fdfe801663052dfe2dce76 --- /dev/null +++ b/reports/proxy_base_fast_eval/active/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + 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"base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.08, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.18, + "corridor_scale": 1.0, + "support_stability_penalty": 0.12, + "collateral_bias": 0.12 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_base_fast_eval/active/reveal_benchmark.md b/reports/proxy_base_fast_eval/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..249c0796a680726ea0234c3b4f2d4b8d69325ff5 --- /dev/null +++ b/reports/proxy_base_fast_eval/active/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt +- episodes: 24.000 +- mean_success: 0.000 +- visibility_integral: 0.160 +- corridor_availability: 0.002 +- reocclusion_rate: 0.002 +- disturbance_cost: 0.676 +- premature_retrieve_rate: 0.835 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.000 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_base_fast_eval/noop/reveal_benchmark.json b/reports/proxy_base_fast_eval/noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b911dc8d961d6bfeb3f88ac07bc1e19b0eea49 --- /dev/null +++ b/reports/proxy_base_fast_eval/noop/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + 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b/reports/proxy_base_fast_eval/noop/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..1cd5b1aa03b47020fbecb89924aef8c887495c6a --- /dev/null +++ b/reports/proxy_base_fast_eval/noop/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_fast_seed17/checkpoint_best.pt +- episodes: 24.000 +- mean_success: 0.000 +- visibility_integral: 0.160 +- corridor_availability: 0.002 +- reocclusion_rate: 0.002 +- disturbance_cost: 0.676 +- premature_retrieve_rate: 0.835 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.046 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_base_reuse128_smoke/scripted/reveal_benchmark.json b/reports/proxy_base_reuse128_smoke/scripted/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..b1d9e6395afc04200817957e1f8f1e555bb6b293 --- /dev/null +++ b/reports/proxy_base_reuse128_smoke/scripted/reveal_benchmark.json @@ -0,0 +1,6025 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "scripted", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 72, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "scripted": { + "per_task_success": { + "foliage": 1.0, + "bag": 1.0, + "cloth": 1.0 + }, + "mean_success": 1.0, + "per_stress_success": { + "nominal": 1.0 + }, + "per_difficulty_success": { + "medium": 1.0 + }, + "task_stress_success": { + "foliage": { + 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a/reports/proxy_base_reuse128_smoke/scripted/reveal_benchmark.md b/reports/proxy_base_reuse128_smoke/scripted/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..5d58c8528bc39f39bc6b7c65edfa0e84c20388e7 --- /dev/null +++ b/reports/proxy_base_reuse128_smoke/scripted/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## scripted +- controller: scripted +- checkpoint: none +- episodes: 72.000 +- mean_success: 1.000 +- visibility_integral: 1.691 +- corridor_availability: 0.706 +- reocclusion_rate: 0.000 +- disturbance_cost: 0.123 +- premature_retrieve_rate: 0.000 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.000 +- foliage_success: 1.000 +- bag_success: 1.000 +- cloth_success: 1.000 diff --git a/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.json b/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..15a118204888b7c685d204b51e3c2a24c9f846d7 --- /dev/null +++ b/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "oracle", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, 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"cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.08, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.18, + "corridor_scale": 1.0, + "support_stability_penalty": 0.12, + "collateral_bias": 0.12 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.md b/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..8040ed2b7e177b48cd729655ff6d2a7eea9d5cb6 --- /dev/null +++ b/reports/proxy_rank_aligned_fast_eval/oracle/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: oracle +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/checkpoint_best.pt +- episodes: 24.000 +- mean_success: 0.000 +- visibility_integral: 10.234 +- corridor_availability: 0.173 +- reocclusion_rate: 0.008 +- disturbance_cost: 0.655 +- premature_retrieve_rate: 0.811 +- reocclusion_after_reveal_rate: 0.250 +- planner_regret: 0.000 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_rank_fast_eval/active/reveal_benchmark.json b/reports/proxy_rank_fast_eval/active/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..683b4a8efaa2a1f14a270fed849860629fbc4322 --- /dev/null +++ b/reports/proxy_rank_fast_eval/active/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "one_sided_slip": 0.0 + }, + "cloth": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "fold_sensitive_long_persistence": 0.0 + } + }, + "visibility_integral": 0.159542116879796, + "corridor_availability": 0.0015432098880410194, + "reocclusion_rate": 0.0015625000000000003, + "disturbance_cost": 0.6762562873351642, + "premature_retrieve_rate": 0.8354166666666667, + "reocclusion_after_reveal_rate": 0.0, + "planner_regret": 0.0002857796401561548, + "task_specific_metrics": { + "gap_width": 0.017008181086917925, + "damage_proxy": 0.6762562873351642, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.054931383087294026, + "hold_persistence": 0.7046628014728634, + "rim_slip_rate": 0.9995488485317736, + "insertable_corridor": 0.125, + "fold_preservation": 0.15216657719233614, + "layer_separation_quality": 0.050609049363652785, + "top_layer_stability": 0.7046628014728634, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": 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"difficulty_bin": "hard" + } + ], + "chosen_candidate_families": [ + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "fold_sensitive_long_persistence", + "difficulty_bin": "hard", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.08, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.18, + "corridor_scale": 1.0, + "support_stability_penalty": 0.12, + "collateral_bias": 0.12 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_rank_fast_eval/active/reveal_benchmark.md b/reports/proxy_rank_fast_eval/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..4e5131d32ab804314f88bdd19e35d5e32a68cf2f --- /dev/null +++ b/reports/proxy_rank_fast_eval/active/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/checkpoint_best.pt +- episodes: 24.000 +- mean_success: 0.000 +- visibility_integral: 0.160 +- corridor_availability: 0.002 +- reocclusion_rate: 0.002 +- disturbance_cost: 0.676 +- premature_retrieve_rate: 0.835 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.000 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_rank_fast_eval/candidate0/reveal_benchmark.json b/reports/proxy_rank_fast_eval/candidate0/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..c78cfd003eaa937a1bd63f6faf9dc0cee914f79a --- /dev/null +++ b/reports/proxy_rank_fast_eval/candidate0/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "candidate0", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "one_sided_slip": 0.0 + }, + "cloth": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "fold_sensitive_long_persistence": 0.0 + } + }, + "visibility_integral": 0.159542116879796, + "corridor_availability": 0.0015432098880410194, + "reocclusion_rate": 0.0015625000000000003, + "disturbance_cost": 0.6762562873351642, + "premature_retrieve_rate": 0.8354166666666667, + "reocclusion_after_reveal_rate": 0.0, + "planner_regret": 0.046383516304194926, + "task_specific_metrics": { + "gap_width": 0.017008181086917925, + "damage_proxy": 0.6762562873351642, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.054931383087294026, + "hold_persistence": 0.7046628014728634, + "rim_slip_rate": 0.9995488485317736, + "insertable_corridor": 0.125, + "fold_preservation": 0.15216657719233614, + 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mode 100644 index 0000000000000000000000000000000000000000..924d0e84c1a771855491d602d029d409e1068220 --- /dev/null +++ b/reports/proxy_rank_fast_eval/candidate0/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: candidate0 +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/checkpoint_best.pt +- episodes: 24.000 +- mean_success: 0.000 +- visibility_integral: 0.160 +- corridor_availability: 0.002 +- reocclusion_rate: 0.002 +- disturbance_cost: 0.676 +- premature_retrieve_rate: 0.835 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.046 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_rank_fast_eval/noop/reveal_benchmark.json b/reports/proxy_rank_fast_eval/noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..bbdbd91366e4ea0873a3c3fd637b1807262511d1 --- /dev/null +++ b/reports/proxy_rank_fast_eval/noop/reveal_benchmark.json @@ -0,0 +1,26480 @@ +{ + "benchmark_config": { + "benchmark_mode": "sprint", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 24, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0, + "one_sided_slip": 0.0, + "fold_sensitive_long_persistence": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0, + "hard": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "tight_corridor_high_collateral": 0.0 + }, + "bag": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "one_sided_slip": 0.0 + }, + "cloth": { + "nominal": 0.0, + "high_reocclusion": 0.0, + "camera_perturbation": 0.0, + "fold_sensitive_long_persistence": 0.0 + } + }, + "visibility_integral": 0.159542116879796, + "corridor_availability": 0.0015432098880410194, + "reocclusion_rate": 0.0015625000000000003, + "disturbance_cost": 0.6762562873351642, + "premature_retrieve_rate": 0.8354166666666667, + "reocclusion_after_reveal_rate": 0.0, + "planner_regret": 0.046383516304194926, + "task_specific_metrics": { + "gap_width": 0.017008181086917925, + "damage_proxy": 0.6762562873351642, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.054931383087294026, + "hold_persistence": 0.7046628014728634, + "rim_slip_rate": 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b/reports/proxy_rank_fast_eval/noop/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..2f43d2bfc2e23e1851102195b1087a15b93b2a20 --- /dev/null +++ b/reports/proxy_rank_fast_eval/noop/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/checkpoint_best.pt +- episodes: 24.000 +- mean_success: 0.000 +- visibility_integral: 0.160 +- corridor_availability: 0.002 +- reocclusion_rate: 0.002 +- disturbance_cost: 0.676 +- premature_retrieve_rate: 0.835 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.046 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_rank_fast_eval/oracle/reveal_benchmark.md b/reports/proxy_rank_fast_eval/oracle/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..8040ed2b7e177b48cd729655ff6d2a7eea9d5cb6 --- /dev/null +++ b/reports/proxy_rank_fast_eval/oracle/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: oracle +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/checkpoint_best.pt +- episodes: 24.000 +- mean_success: 0.000 +- visibility_integral: 10.234 +- corridor_availability: 0.173 +- reocclusion_rate: 0.008 +- disturbance_cost: 0.655 +- premature_retrieve_rate: 0.811 +- reocclusion_after_reveal_rate: 0.250 +- planner_regret: 0.000 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_rank_only_live/active/reveal_benchmark.md b/reports/proxy_rank_only_live/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..ccc642791b78384216056af46364154c9d6f9c59 --- /dev/null +++ b/reports/proxy_rank_only_live/active/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/checkpoint_best.pt +- episodes: 300.000 +- mean_success: 0.000 +- visibility_integral: 0.135 +- corridor_availability: 0.000 +- reocclusion_rate: 0.000 +- disturbance_cost: 0.675 +- premature_retrieve_rate: 0.825 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.001 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_rank_only_rebuild128_smoke/active/reveal_benchmark.json b/reports/proxy_rank_only_rebuild128_smoke/active/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..ed2239eaf8c65e37de8579c3bb7d09dd4d97a020 --- /dev/null +++ b/reports/proxy_rank_only_rebuild128_smoke/active/reveal_benchmark.json @@ -0,0 +1,79265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 72, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 2.1612586424582534, + "corridor_availability": 0.028978052238623302, + "reocclusion_rate": 0.019965277777777776, + "disturbance_cost": 0.7459826016288668, + "premature_retrieve_rate": 0.36319444444444443, + "reocclusion_after_reveal_rate": 0.25, + "planner_regret": 0.010178372014585572, + "task_specific_metrics": { + "gap_width": 0.029826438695709903, + "damage_proxy": 0.7459826016288668, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.10063081447013326, + "hold_persistence": 0.6904272935088309, + "rim_slip_rate": 0.9773172209790774, + "insertable_corridor": 0.6805555555555556, + "fold_preservation": 0.005932380385662196, + "layer_separation_quality": 0.11178537788852544, + "top_layer_stability": 0.6904272935088309, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_rebuild128_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": 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"chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action", + "base_action" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_rank_only_rebuild128_smoke/active/reveal_benchmark.md b/reports/proxy_rank_only_rebuild128_smoke/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..3ed50f643cdce7341137c5aa61e7c80a18fc3c23 --- /dev/null +++ b/reports/proxy_rank_only_rebuild128_smoke/active/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_rebuild128_seed17/checkpoint_best.pt +- episodes: 72.000 +- mean_success: 0.000 +- visibility_integral: 2.161 +- corridor_availability: 0.029 +- reocclusion_rate: 0.020 +- disturbance_cost: 0.746 +- premature_retrieve_rate: 0.363 +- reocclusion_after_reveal_rate: 0.250 +- planner_regret: 0.010 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_rank_only_rebuild128_smoke/noop/reveal_benchmark.json b/reports/proxy_rank_only_rebuild128_smoke/noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..fdf93d5b33a665513f9c4ac525cdd781b94ce9f2 --- /dev/null +++ b/reports/proxy_rank_only_rebuild128_smoke/noop/reveal_benchmark.json @@ -0,0 +1,79265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 72, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + 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"chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "model", + "model", + "model", + "model", + "model", + "model", + "model", + "model", + "model", + "model" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_rank_only_rebuild128_smoke/noop/reveal_benchmark.md b/reports/proxy_rank_only_rebuild128_smoke/noop/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..281fe2d2f929f8fd71dd370b42d5489cc068de1a --- /dev/null +++ b/reports/proxy_rank_only_rebuild128_smoke/noop/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_rebuild128_seed17/checkpoint_best.pt +- episodes: 72.000 +- mean_success: 0.000 +- visibility_integral: 2.161 +- corridor_availability: 0.029 +- reocclusion_rate: 0.020 +- disturbance_cost: 0.746 +- premature_retrieve_rate: 0.363 +- reocclusion_after_reveal_rate: 0.250 +- planner_regret: 0.021 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_semantic_heuristic_quick12/active/reveal_benchmark.json b/reports/proxy_semantic_heuristic_quick12/active/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..fe35ac5475690260bf4dce3652c62459c2f564bd --- /dev/null +++ b/reports/proxy_semantic_heuristic_quick12/active/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 21.448889710009098, + "corridor_availability": 0.3312757226328055, + 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"reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_semantic_heuristic_quick12/active/reveal_benchmark.md b/reports/proxy_semantic_heuristic_quick12/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..e1fc725ca66f111444c87df7d1e8574c36cc99ed --- /dev/null +++ b/reports/proxy_semantic_heuristic_quick12/active/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 21.449 +- corridor_availability: 0.331 +- reocclusion_rate: 0.001 +- disturbance_cost: 0.397 +- premature_retrieve_rate: 0.000 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.233 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_semantic_heuristic_quick12/candidate0/reveal_benchmark.json b/reports/proxy_semantic_heuristic_quick12/candidate0/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..b634ce3b78d6ead6736beaf78df0684b40258ba6 --- /dev/null +++ b/reports/proxy_semantic_heuristic_quick12/candidate0/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "candidate0", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 2.2607915798823037, + "corridor_availability": 0.02674897077182929, + "reocclusion_rate": 0.016666666666666666, + "disturbance_cost": 0.7470283818855998, + "premature_retrieve_rate": 0.3666666666666667, + "reocclusion_after_reveal_rate": 0.16666666666666666, + "planner_regret": 0.01945494548417628, + "task_specific_metrics": { + "gap_width": 0.02862292342076736, + "damage_proxy": 0.7470283818855998, + "actor_feasibility_floor": 0.0, + 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"corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_semantic_heuristic_quick12/candidate0/reveal_benchmark.md b/reports/proxy_semantic_heuristic_quick12/candidate0/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..d24e35422aac4de03ad7ef62ba88d79ab51c6471 --- /dev/null +++ b/reports/proxy_semantic_heuristic_quick12/candidate0/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: candidate0 +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 2.261 +- corridor_availability: 0.027 +- reocclusion_rate: 0.017 +- disturbance_cost: 0.747 +- premature_retrieve_rate: 0.367 +- reocclusion_after_reveal_rate: 0.167 +- planner_regret: 0.019 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_semantic_heuristic_quick12/noop/reveal_benchmark.json b/reports/proxy_semantic_heuristic_quick12/noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..f9899b97f06b36b2a794ce5ca4bbfdc88653ac68 --- /dev/null +++ b/reports/proxy_semantic_heuristic_quick12/noop/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 2.2607915798823037, + "corridor_availability": 0.02674897077182929, + "reocclusion_rate": 0.016666666666666666, + "disturbance_cost": 0.7470283818855998, + "premature_retrieve_rate": 0.3666666666666667, + "reocclusion_after_reveal_rate": 0.16666666666666666, + "planner_regret": 0.01945494548417628, + "task_specific_metrics": { + "gap_width": 0.02862292342076736, + "damage_proxy": 0.7470283818855998, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.10902958872862197, + "hold_persistence": 0.6900442885666663, + "rim_slip_rate": 0.9779464956123148, + "insertable_corridor": 0.5833333333333334, + "fold_preservation": 0.005771209769449855, + 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file diff --git a/reports/proxy_semantic_heuristic_quick12/noop/reveal_benchmark.md b/reports/proxy_semantic_heuristic_quick12/noop/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..cbb8e00d15056ed38e752b7d656eadb098eea467 --- /dev/null +++ b/reports/proxy_semantic_heuristic_quick12/noop/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 2.261 +- corridor_availability: 0.027 +- reocclusion_rate: 0.017 +- disturbance_cost: 0.747 +- premature_retrieve_rate: 0.367 +- reocclusion_after_reveal_rate: 0.167 +- planner_regret: 0.019 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_semantic_heuristic_quick12/oracle/reveal_benchmark.json b/reports/proxy_semantic_heuristic_quick12/oracle/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..3bb83d087748ce6a8b28bc87b4466e2b406ec835 --- /dev/null +++ b/reports/proxy_semantic_heuristic_quick12/oracle/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "oracle", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 3.3381350499888263, + "corridor_availability": 0.06172839427987734, + "reocclusion_rate": 0.017708333333333336, + "disturbance_cost": 0.707138891805032, + "premature_retrieve_rate": 0.5750000000000001, + "reocclusion_after_reveal_rate": 0.08333333333333333, + "planner_regret": 0.0, + "task_specific_metrics": { + "gap_width": 0.024983014003686122, + "damage_proxy": 0.707138891805032, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.07762821949209688, + "hold_persistence": 0.7046999339962507, + "rim_slip_rate": 0.9493303893676414, + "insertable_corridor": 0.3333333333333333, + "fold_preservation": 0.05978331960597918, + "layer_separation_quality": 0.11560125548188054, + "top_layer_stability": 0.7046999339962507, + "lift_too_high_rate": 0.0 + }, + "checkpoint": 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b/reports/proxy_semantic_heuristic_quick12/oracle/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: oracle +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 3.338 +- corridor_availability: 0.062 +- reocclusion_rate: 0.018 +- disturbance_cost: 0.707 +- premature_retrieve_rate: 0.575 +- reocclusion_after_reveal_rate: 0.083 +- planner_regret: 0.000 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_semantic_nowm_quick12/active/reveal_benchmark.json b/reports/proxy_semantic_nowm_quick12/active/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..182fd7004f30ab9900f8fa0b85572bb15e5c81ea --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12/active/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 21.451499906678993, + "corridor_availability": 0.3312757226328055, + "reocclusion_rate": 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"stabilize_fold", + "stabilize_fold", + "stabilize_fold", + "stabilize_fold" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_semantic_nowm_quick12/active/reveal_benchmark.md b/reports/proxy_semantic_nowm_quick12/active/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..001a180598ea79de99bcf0068751f401ce409a34 --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12/active/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 21.451 +- corridor_availability: 0.331 +- reocclusion_rate: 0.001 +- disturbance_cost: 0.381 +- premature_retrieve_rate: 0.000 +- reocclusion_after_reveal_rate: 0.000 +- planner_regret: 0.230 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.json b/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..b634ce3b78d6ead6736beaf78df0684b40258ba6 --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "candidate0", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 2.2607915798823037, + "corridor_availability": 0.02674897077182929, + "reocclusion_rate": 0.016666666666666666, + "disturbance_cost": 0.7470283818855998, + "premature_retrieve_rate": 0.3666666666666667, + "reocclusion_after_reveal_rate": 0.16666666666666666, + "planner_regret": 0.01945494548417628, + "task_specific_metrics": { + "gap_width": 0.02862292342076736, + "damage_proxy": 0.7470283818855998, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.10902958872862197, + "hold_persistence": 0.6900442885666663, + "rim_slip_rate": 0.9779464956123148, + "insertable_corridor": 0.5833333333333334, + "fold_preservation": 0.005771209769449855, + "layer_separation_quality": 0.1099266638553769, + "top_layer_stability": 0.6900442885666663, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 0, + "episode_index": 0, + "controller": "candidate0", + "resolved_task_name": "foliage", + "success": 0.0, + "visibility_integral": 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"focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.md b/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..d24e35422aac4de03ad7ef62ba88d79ab51c6471 --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12/candidate0/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: candidate0 +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 2.261 +- corridor_availability: 0.027 +- reocclusion_rate: 0.017 +- disturbance_cost: 0.747 +- premature_retrieve_rate: 0.367 +- reocclusion_after_reveal_rate: 0.167 +- planner_regret: 0.019 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.json b/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..f9899b97f06b36b2a794ce5ca4bbfdc88653ac68 --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": 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file diff --git a/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.md b/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..cbb8e00d15056ed38e752b7d656eadb098eea467 --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12/noop/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 2.261 +- corridor_availability: 0.027 +- reocclusion_rate: 0.017 +- disturbance_cost: 0.747 +- premature_retrieve_rate: 0.367 +- reocclusion_after_reveal_rate: 0.167 +- planner_regret: 0.019 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_semantic_nowm_quick12/oracle/reveal_benchmark.json b/reports/proxy_semantic_nowm_quick12/oracle/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..3bb83d087748ce6a8b28bc87b4466e2b406ec835 --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12/oracle/reveal_benchmark.json @@ -0,0 +1,13265 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "oracle", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 12, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "adapter": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 3.3381350499888263, + "corridor_availability": 0.06172839427987734, + "reocclusion_rate": 0.017708333333333336, + "disturbance_cost": 0.707138891805032, + "premature_retrieve_rate": 0.5750000000000001, + "reocclusion_after_reveal_rate": 0.08333333333333333, + "planner_regret": 0.0, + "task_specific_metrics": { + "gap_width": 0.024983014003686122, + "damage_proxy": 0.707138891805032, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.07762821949209688, + "hold_persistence": 0.7046999339962507, + "rim_slip_rate": 0.9493303893676414, + "insertable_corridor": 0.3333333333333333, + "fold_preservation": 0.05978331960597918, + "layer_separation_quality": 0.11560125548188054, + "top_layer_stability": 0.7046999339962507, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "task_name": "foliage", + "task_id": 0, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "seed": 0, + "episode_index": 0, + "controller": "oracle", + "resolved_task_name": "foliage", + "success": 0.0, + "visibility_integral": 0.34848496317863464, + "corridor_availability": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.8218737045913945, + "premature_retrieve_rate": 0.4875, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.0, + "gap_width": 0.07000618926276694, + "damage_proxy": 0.8218737045913945, + "actor_feasibility_floor": 0.0, + "mouth_aperture": 0.0, + "hold_persistence": 0.6765765860202921, + "rim_slip_rate": 1.0, + "insertable_corridor": 0.0, + "fold_preservation": 0.0, + "layer_separation_quality": 0.0, + "top_layer_stability": 0.6765765860202921, + 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b/reports/proxy_semantic_nowm_quick12/oracle/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## adapter +- controller: oracle +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 12.000 +- mean_success: 0.000 +- visibility_integral: 3.338 +- corridor_availability: 0.062 +- reocclusion_rate: 0.018 +- disturbance_cost: 0.707 +- premature_retrieve_rate: 0.575 +- reocclusion_after_reveal_rate: 0.083 +- planner_regret: 0.000 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/proxy_semantic_nowm_quick12_final/reveal_benchmark.json b/reports/proxy_semantic_nowm_quick12_final/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..0edec33227760c0eb36faab2f2a76acb1e187530 --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12_final/reveal_benchmark.json @@ -0,0 +1,17932 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 36, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "patched": { + "per_task_success": { + "foliage": 0.6666666666666666, + "bag": 0.75, + "cloth": 0.5833333333333334 + }, + "mean_success": 0.6666666666666666, + "per_stress_success": { + "nominal": 0.6666666666666666 + }, + "per_difficulty_success": { + "medium": 0.6666666666666666 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.6666666666666666 + }, + "bag": { + "nominal": 0.75 + }, + "cloth": { + "nominal": 0.5833333333333334 + } + }, + "visibility_integral": 19.950311011738247, + "corridor_availability": 0.7974095170696577, + "reocclusion_rate": 0.0027777777777777775, + "disturbance_cost": 0.2835018915256054, + "premature_retrieve_rate": 0.3723800505050506, + "reocclusion_after_reveal_rate": 0.2222222222222222, + "planner_regret": 0.15855755104372898, + "task_specific_metrics": { + "gap_width": 0.06194533299011481, + "damage_proxy": 0.2835018915256054, + "actor_feasibility_floor": 0.027777777777777776, + "mouth_aperture": 0.3333333333333333, + "hold_persistence": 0.8893786519816332, + "rim_slip_rate": 0.2869907332622637, + "insertable_corridor": 1.0, + "fold_preservation": 0.21554210450862732, + "layer_separation_quality": 0.3224550130425373, + "top_layer_stability": 0.8893786519816332, + "lift_too_high_rate": 0.0 + }, + "checkpoint": "/workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt", + "shape_mismatch_keys": [], + "episode_records": [ + { + "proxy_name": 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"chosen_candidate_index": 7, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "separate_layer", + "retrieve" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_semantic_nowm_quick12_final/reveal_benchmark.md b/reports/proxy_semantic_nowm_quick12_final/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..5f4211937cc50a539117c267d30a7a8b05c9b51f --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12_final/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## patched +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 36.000 +- mean_success: 0.667 +- visibility_integral: 19.950 +- corridor_availability: 0.797 +- reocclusion_rate: 0.003 +- disturbance_cost: 0.284 +- premature_retrieve_rate: 0.372 +- reocclusion_after_reveal_rate: 0.222 +- planner_regret: 0.159 +- foliage_success: 0.667 +- bag_success: 0.750 +- cloth_success: 0.583 diff --git a/reports/proxy_semantic_nowm_quick12_final_noop/reveal_benchmark.json b/reports/proxy_semantic_nowm_quick12_final_noop/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..7a0a836c768b486a7729415a003d456d8366f16e --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12_final_noop/reveal_benchmark.json @@ -0,0 +1,39665 @@ +{ + "benchmark_config": { + "benchmark_mode": "smoke", + "controller": "model", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 0, + "benchmark_spec_path": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/artifacts/generated_configs/reveal_proxy_sprint_benchmark_v7.json", + "episodes": 36, + "base_config": "/workspace/workspace/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_base.yaml" + }, + "noop": { + "per_task_success": { + "foliage": 0.0, + "bag": 0.0, + "cloth": 0.0 + }, + "mean_success": 0.0, + "per_stress_success": { + "nominal": 0.0 + }, + "per_difficulty_success": { + "medium": 0.0 + }, + "task_stress_success": { + "foliage": { + "nominal": 0.0 + }, + "bag": { + "nominal": 0.0 + }, + "cloth": { + "nominal": 0.0 + } + }, + "visibility_integral": 2.274976045721107, + "corridor_availability": 0.0312071330845356, + "reocclusion_rate": 0.021180555555555553, + "disturbance_cost": 0.7432509795382866, + "premature_retrieve_rate": 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"disturbance_cost": 0.9033266175947449, + "chosen_candidate_family": "model", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 74, + "visibility": 0.0, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.9275601643073278, + "chosen_candidate_family": "model", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 75, + "visibility": 0.0, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.9257219137570931, + "chosen_candidate_family": "model", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 76, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.9372208549200772, + "chosen_candidate_family": "model", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 77, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.9553001640551118, + "chosen_candidate_family": "model", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 78, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.9444231878166363, + "chosen_candidate_family": "model", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 79, + "visibility": 0.0, + "support_mode": 2, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.9460188593281864, + "chosen_candidate_family": "model", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + }, + { + "step_index": 80, + "visibility": 0.0, + "support_mode": 0, + "corridor_available": 0.0, + "reocclusion_risk": 1.0, + "disturbance_cost": 0.9708099122106353, + "chosen_candidate_family": "model", + "chosen_candidate_index": 0, + "task_name": "cloth", + "stress_slice": "nominal", + "difficulty_bin": "medium" + } + ], + "chosen_candidate_families": [ + "model", + "model", + "model", + "model", + "model", + "model", + "model", + "model", + "model", + "model" + ], + "episode_metadata": { + "proxy_name": "cloth_proxy", + "task_name": "cloth", + "task_id": 2, + "stress_slice": "nominal", + "difficulty_bin": "medium", + "camera_pose_jitter": 0.0, + "focal_jitter": 0.0, + "lateral_skew": 0.0, + "reocclusion_bias": 0.0, + "closure_scale": 1.0, + "disturbance_gain_scale": 1.0, + "corridor_scale": 1.0, + "support_stability_penalty": 0.0, + "collateral_bias": 0.0 + } + } + ] + } +} \ No newline at end of file diff --git a/reports/proxy_semantic_nowm_quick12_final_noop/reveal_benchmark.md b/reports/proxy_semantic_nowm_quick12_final_noop/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..5aea3cc37798dfe8a83a629b6f80a3a5ab07b238 --- /dev/null +++ b/reports/proxy_semantic_nowm_quick12_final_noop/reveal_benchmark.md @@ -0,0 +1,17 @@ +# Reveal Proxy Benchmark + +## noop +- controller: model +- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt +- episodes: 36.000 +- mean_success: 0.000 +- visibility_integral: 2.275 +- corridor_availability: 0.031 +- reocclusion_rate: 0.021 +- disturbance_cost: 0.743 +- premature_retrieve_rate: 0.362 +- reocclusion_after_reveal_rate: 0.278 +- planner_regret: 0.021 +- foliage_success: 0.000 +- bag_success: 0.000 +- cloth_success: 0.000 diff --git a/reports/public_proxy_suite_smoke_v1/combined_summary.json b/reports/public_proxy_suite_smoke_v1/combined_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b20b0998ba423b7cf3e772bd4eb04554b66265f3 --- /dev/null +++ b/reports/public_proxy_suite_smoke_v1/combined_summary.json @@ -0,0 +1,67 @@ +{ + "suite_name": "public_proxy_suite_smoke_v1", + "date_utc": "2026-04-01", + "tracks": { + "occlusion": { + "track_id": "occlusion_track", + "source_summary": "/workspace/workspace/reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/public_benchmark_package_summary.json", + "delta_active_vs_trunk": 0.5800000056624413, + "delta_noop_vs_trunk": 0.0, + "delta_active_vs_trunk_ci95": [ + 0.4399999976158142, + 0.7200000286102295 + ], + "signs_of_life": true, + "modes": { + "adapter_active_ft": 0.6200000047683716, + "adapter_noop": 0.03999999910593033, + "trunk_only_ft": 0.03999999910593033 + } + }, + "bag": { + "track_id": "bag_track", + "source_summary": "/workspace/workspace/reports/maniskill_bag_bridge_smoke_v1/public_benchmark_package_summary.json", + "delta_active_vs_trunk": 0.1599999964237213, + "delta_noop_vs_trunk": -0.3199999928474426, + "delta_active_vs_trunk_ci95": [ + -0.03999999165534973, + 0.3400000333786011 + ], + "signs_of_life": true, + "modes": { + "adapter_active_ft": 0.47999998927116394, + "adapter_noop": 0.0, + "trunk_only_ft": 0.3199999928474426 + } + }, + "cloth": { + "track_id": "cloth_track", + "source_summary": "/workspace/workspace/reports/maniskill_cloth_bridge_smoke_v1/public_benchmark_package_summary.json", + "delta_active_vs_trunk": 0.06000000238418579, + "delta_noop_vs_trunk": 0.0, + "delta_active_vs_trunk_ci95": [ + -0.03999999910593033, + 0.1599999964237213 + ], + "signs_of_life": true, + "modes": { + "adapter_active_ft": 0.10000000149011612, + "adapter_noop": 0.03999999910593033, + "trunk_only_ft": 0.03999999910593033 + } + } + }, + "macro_average": { + "trunk_only_ft": 0.1333333303531011, + "adapter_noop": 0.02666666607062022, + "adapter_active_ft": 0.3999999985098839, + "delta_active_vs_trunk": 0.2666666681567828, + "delta_noop_vs_trunk": -0.10666666428248088 + }, + "summary_notes": [ + "Single-seed minimum-sign-of-life smoke across three public proxy tracks.", + "Occlusion summary comes from the tuned public eval path under maniskill_pickclutter_smoke_v5_eval_tuned_softerpref.", + "Bag and cloth summaries come from fair bridge_smoke_v1 runs with shared train/val/eval splits and same-init trunk baselines.", + "This is positive adapter-specific evidence on all three proxy tracks, but it is not yet paper-quality multi-seed evidence." + ] +} diff --git a/reports/public_proxy_suite_smoke_v1/combined_summary.md b/reports/public_proxy_suite_smoke_v1/combined_summary.md new file mode 100644 index 0000000000000000000000000000000000000000..522ea1700a6d25d2fb3057563dc7e9bb3c79a0af --- /dev/null +++ b/reports/public_proxy_suite_smoke_v1/combined_summary.md @@ -0,0 +1,44 @@ +# Public Proxy Suite Smoke Summary + +- date_utc: 2026-04-01 +- macro_trunk_only_ft: 0.133 +- macro_adapter_noop: 0.027 +- macro_adapter_active_ft: 0.400 +- macro_delta_active_vs_trunk: 0.267 +- macro_delta_noop_vs_trunk: -0.107 + +## occlusion +- source_summary: /workspace/workspace/reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/public_benchmark_package_summary.json +- delta_active_vs_trunk: 0.580 +- delta_noop_vs_trunk: 0.000 +- signs_of_life: True +- delta_active_vs_trunk_ci95: [0.440, 0.720] +- trunk_only_ft: 0.040 +- adapter_noop: 0.040 +- adapter_active_ft: 0.620 + +## bag +- source_summary: /workspace/workspace/reports/maniskill_bag_bridge_smoke_v1/public_benchmark_package_summary.json +- delta_active_vs_trunk: 0.160 +- delta_noop_vs_trunk: -0.320 +- signs_of_life: True +- delta_active_vs_trunk_ci95: [-0.040, 0.340] +- trunk_only_ft: 0.320 +- adapter_noop: 0.000 +- adapter_active_ft: 0.480 + +## cloth +- source_summary: /workspace/workspace/reports/maniskill_cloth_bridge_smoke_v1/public_benchmark_package_summary.json +- delta_active_vs_trunk: 0.060 +- delta_noop_vs_trunk: 0.000 +- signs_of_life: True +- delta_active_vs_trunk_ci95: [-0.040, 0.160] +- trunk_only_ft: 0.040 +- adapter_noop: 0.040 +- adapter_active_ft: 0.100 + +## Notes +- Single-seed minimum-sign-of-life smoke across three public proxy tracks. +- Occlusion summary comes from the tuned public eval path under maniskill_pickclutter_smoke_v5_eval_tuned_softerpref. +- Bag and cloth summaries come from fair bridge_smoke_v1 runs with shared train/val/eval splits and same-init trunk baselines. +- This is positive adapter-specific evidence on all three proxy tracks, but it is not yet paper-quality multi-seed evidence. diff --git a/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.json b/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..61ba34f05a66de514618314239df6aad027722ae --- /dev/null +++ b/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.json @@ -0,0 +1,280 @@ +{ + "checkpoint": "/workspace/workspace/VLAarchtests2/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 20, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 21, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 22, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 23, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.md b/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d3dd498a2d88ac7704e094105b724417170a9ae7 --- /dev/null +++ b/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/workspace/VLAarchtests2/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0] diff --git a/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.partial.json b/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..61ba34f05a66de514618314239df6aad027722ae --- /dev/null +++ b/reports/repaired_dual_push_chunk8_ep1_len25/rollout_eval.partial.json @@ -0,0 +1,280 @@ +{ + "checkpoint": "/workspace/workspace/VLAarchtests2/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + 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