| /workspace/third_party/AnyBimanual/train.py:18: 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="config", config_path="conf") |
| /workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'config': 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 ' |
| 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( |
| [2026-03-30 05:02:50,133][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 |
| ddp: |
| master_addr: localhost |
| master_port: 12992 |
| num_devices: 1 |
| rlbench: |
| task_name: peract_bc_subset3_overlap_smoke200 |
| tasks: |
| - coordinated_push_box |
| - coordinated_lift_ball |
| - dual_push_buttons |
| demos: 100 |
| demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root |
| episode_length: 25 |
| cameras: |
| - over_shoulder_right |
| - wrist_right |
| - front |
| - overhead |
| - over_shoulder_left |
| - wrist_left |
| camera_resolution: |
| - 256 |
| - 256 |
| scene_bounds: |
| - -0.3 |
| - -0.5 |
| - 0.6 |
| - 0.7 |
| - 0.5 |
| - 1.6 |
| include_lang_goal_in_obs: true |
| instructions: /path |
| replay: |
| batch_size: 2 |
| timesteps: 1 |
| prioritisation: false |
| task_uniform: true |
| use_disk: true |
| path: /workspace/baselines/AnyBimanual_overlap_replay |
| max_parallel_processes: 8 |
| task_folder: multi |
| framework: |
| log_freq: 50 |
| save_freq: 200 |
| train_envs: 1 |
| replay_ratio: ${replay.batch_size} |
| transitions_before_train: 200 |
| tensorboard_logging: true |
| csv_logging: true |
| training_iterations: 200 |
| gpu: 0 |
| env_gpu: 0 |
| logdir: /workspace/baselines/AnyBimanual_overlap_runs |
| logging_level: 20 |
| seeds: 1 |
| start_seed: 0 |
| load_existing_weights: false |
| num_weights_to_keep: 60 |
| num_workers: 0 |
| record_every_n: 5 |
| checkpoint_name_prefix: checkpoint |
| use_wandb: false |
| wandb_project: '' |
| wandb_group: peract_bc_subset3_overlap_smoke200 |
| seed: 0 |
| wandb_name: peract_bc_subset3_overlap_smoke200 |
| use_skill: true |
| use_pretrained: false |
| use_prefix: false |
| frozen: false |
| anybimanual: true |
| augmentation_type: ab |
|
|
| [2026-03-30 05:02:50,135][root][INFO] - CWD:/workspace/baselines/AnyBimanual_overlap_runs/peract_bc_subset3_overlap_smoke200/PERACT_BC |
| [2026-03-30 05:02:50,142][root][INFO] - Starting seed 0. |
| /workspace/third_party/AnyBimanual/train.py:18: 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="config", config_path="conf") |
| [03/30/26 05:03:02] INFO INFO:root:Using method agent_factory.py:23 |
| PERACT_BC with type |
| leader_follower |
| /workspace/baselines/AnyBimanual_overlap_replay/multi |
| No replay files found. Creating replay... |
| [03/30/26 05:03:05] INFO INFO:root:Creating a uniform_replay_buffer.py:156 |
| TaskUniformReplayBuffe |
| r replay memory with |
| the following |
| parameters: |
| INFO INFO:root: uniform_replay_buffer.py:159 |
| timesteps: 1 |
| INFO INFO:root: uniform_replay_buffer.py:160 |
| replay_capacity: |
| 300000 |
| INFO INFO:root: uniform_replay_buffer.py:161 |
| batch_size: 2 |
| INFO INFO:root: uniform_replay_buffer.py:162 |
| update_horizon: 1 |
| INFO INFO:root: uniform_replay_buffer.py:163 |
| gamma: 0.990000 |
| INFO INFO:root: uniform_replay_buffer.py:169 |
| saving to disk: |
| /workspace/baselines/A |
| nyBimanual_overlap_rep |
| lay/multi |
| /workspace/third_party/AnyBimanual/train.py:18: 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="config", config_path="conf") |
| /workspace/third_party/AnyBimanual/train.py:18: 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="config", config_path="conf") |
| /workspace/third_party/AnyBimanual/train.py:18: 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="config", config_path="conf") |
| /workspace/third_party/AnyBimanual/train.py:18: 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="config", config_path="conf") |
| Found 4 keypoints. [50, 82, 84, 95] |
| Found 4 keypoints. [49, 95, 97, 118] |
| Found 4 keypoints. [65, 85, 87, 103] |
| Found 4 keypoints. [48, 86, 88, 98] |
| Found 4 keypoints. [63, 100, 102, 120] |
| Found 4 keypoints. [60, 86, 88, 100] |
| Found 4 keypoints. [47, 94, 96, 108] |
| Found 4 keypoints. [48, 88, 90, 100] |
| Found 4 keypoints. [48, 90, 92, 103] |
| Found 4 keypoints. [60, 88, 90, 102] |
| Found 4 keypoints. [49, 94, 96, 108] |
| Found 4 keypoints. [48, 85, 87, 97] |
| Found 4 keypoints. [50, 78, 80, 91] |
| Found 4 keypoints. [48, 87, 89, 100] |
| Found 4 keypoints. [53, 86, 88, 99] |
| Found 4 keypoints. [47, 96, 98, 113] |
| Found 4 keypoints. [53, 92, 94, 109] |
| Found 4 keypoints. [62, 87, 89, 103] |
| Found 4 keypoints. [52, 86, 88, 99] |
| Found 4 keypoints. [61, 99, 101, 122] |
| Found 4 keypoints. [56, 88, 90, 101] |
| Found 4 keypoints. [58, 93, 95, 108] |
| Found 4 keypoints. [67, 85, 87, 106] |
| Found 4 keypoints. [48, 91, 93, 105] |
| Found 4 keypoints. [67, 91, 93, 109] |
| Found 4 keypoints. [53, 85, 87, 98] |
| Found 4 keypoints. [49, 96, 98, 110] |
| Found 4 keypoints. [50, 86, 88, 99] |
| Found 4 keypoints. [49, 83, 85, 96] |
| Found 4 keypoints. [51, 95, 97, 110] |
| Found 4 keypoints. [51, 97, 99, 118] |
| Found 4 keypoints. [64, 77, 79, 95] |
| Found 4 keypoints. [49, 82, 84, 94] |
| Found 4 keypoints. [49, 93, 95, 106] |
| Found 4 keypoints. [56, 98, 100, 118] |
| Found 4 keypoints. [62, 93, 95, 110] |
| Found 4 keypoints. [56, 91, 93, 105] |
| Found 4 keypoints. [55, 87, 89, 100] |
| Found 4 keypoints. [54, 81, 83, 102] |
| Found 4 keypoints. [65, 94, 96, 112] |
| Found 4 keypoints. [68, 100, 102, 164] |
| Found 4 keypoints. [47, 81, 83, 93] |
| Found 4 keypoints. [56, 88, 90, 102] |
| Found 4 keypoints. [67, 96, 98, 118] |
| Found 4 keypoints. [61, 88, 90, 103] |
| Found 4 keypoints. [59, 93, 95, 109] |
| Found 4 keypoints. [47, 87, 89, 99] |
| Found 4 keypoints. [67, 87, 89, 107] |
| Found 4 keypoints. [50, 87, 89, 99] |
| Found 4 keypoints. [68, 82, 84, 104] |
| Found 4 keypoints. [49, 94, 96, 108] |
| Found 4 keypoints. [57, 88, 90, 101] |
| Found 4 keypoints. [64, 73, 75, 91] |
| Found 4 keypoints. [50, 84, 86, 96] |
| Found 4 keypoints. [65, 89, 91, 108] |
| Found 4 keypoints. [48, 83, 85, 95] |
| Found 4 keypoints. [66, 76, 78, 93] |
| Found 4 keypoints. [56, 81, 83, 95] |
| Found 4 keypoints. [60, 80, 82, 95] |
| Found 4 keypoints. [66, 96, 98, 121] |
| Found 4 keypoints. [61, 87, 89, 102] |
| Found 4 keypoints. [66, 94, 96, 115] |
| Found 4 keypoints. [65, 85, 87, 101] |
| Found 4 keypoints. [64, 98, 100, 115] |
| Found 4 keypoints. [57, 91, 93, 105] |
| Found 4 keypoints. [50, 86, 88, 98] |
| Found 4 keypoints. [48, 83, 85, 95] |
| Found 4 keypoints. [51, 77, 79, 90] |
| Found 4 keypoints. [55, 83, 85, 97] |
| Found 4 keypoints. [47, 89, 91, 103] |
| Found 4 keypoints. [48, 99, 101, 116] |
| Found 4 keypoints. [52, 83, 85, 95] |
| Found 4 keypoints. [56, 97, 99, 122] |
| Found 4 keypoints. [47, 102, 104, 130] |
| Found 4 keypoints. [47, 83, 85, 95] |
| Found 4 keypoints. [48, 89, 91, 103] |
| Found 4 keypoints. [50, 84, 86, 97] |
| Found 4 keypoints. [55, 91, 93, 105] |
| Found 4 keypoints. [63, 90, 92, 106] |
| Found 4 keypoints. [59, 87, 89, 101] |
| Found 4 keypoints. [68, 72, 74, 96] |
| Found 4 keypoints. [68, 86, 88, 108] |
| Found 4 keypoints. [64, 86, 88, 103] |
| Found 4 keypoints. [65, 82, 84, 100] |
| Found 4 keypoints. [54, 87, 89, 101] |
| Found 4 keypoints. [55, 95, 97, 109] |
| Found 4 keypoints. [52, 90, 92, 105] |
| Found 4 keypoints. [57, 90, 92, 105] |
| Found 4 keypoints. [66, 93, 95, 112] |
| Found 4 keypoints. [48, 92, 94, 105] |
| Found 4 keypoints. [48, 81, 83, 93] |
| Found 4 keypoints. [54, 84, 86, 97] |
| Found 5 keypoints. [48, 78, 80, 94, 96] |
| Found 4 keypoints. [66, 91, 93, 111] |
| Found 4 keypoints. [66, 88, 90, 107] |
| Found 4 keypoints. [54, 99, 101, 121] |
| Found 4 keypoints. [54, 89, 91, 102] |
| Found 4 keypoints. [51, 88, 90, 101] |
| Found 4 keypoints. [61, 94, 96, 112] |
| Found 4 keypoints. [47, 84, 86, 97] |
| Found 2 keypoints. [101, 157] |
| Found 1 keypoints. [131] |
| Found 2 keypoints. [94, 146] |
| Found 2 keypoints. [81, 131] |
| Found 2 keypoints. [84, 136] |
| Found 2 keypoints. [93, 141] |
| Found 2 keypoints. [92, 143] |
| Found 2 keypoints. [94, 149] |
| Found 2 keypoints. [86, 135] |
| Found 2 keypoints. [99, 153] |
| Found 2 keypoints. [96, 147] |
| Found 2 keypoints. [102, 154] |
| Found 2 keypoints. [86, 134] |
| Found 2 keypoints. [83, 136] |
| Found 2 keypoints. [86, 134] |
| Found 2 keypoints. [87, 135] |
| Found 2 keypoints. [96, 147] |
| Found 2 keypoints. [88, 135] |
| Found 2 keypoints. [86, 136] |
| Found 2 keypoints. [86, 135] |
| Found 2 keypoints. [85, 136] |
| Found 2 keypoints. [85, 134] |
| Found 2 keypoints. [92, 143] |
| Found 2 keypoints. [96, 149] |
| Found 2 keypoints. [100, 157] |
| Found 2 keypoints. [93, 142] |
| Found 2 keypoints. [84, 137] |
| Found 2 keypoints. [97, 154] |
| Found 2 keypoints. [86, 134] |
| Found 2 keypoints. [91, 138] |
| Found 2 keypoints. [95, 146] |
| Found 2 keypoints. [86, 135] |
| Found 2 keypoints. [85, 135] |
| Found 2 keypoints. [94, 150] |
| Found 2 keypoints. [89, 136] |
| Found 2 keypoints. [89, 139] |
| Found 2 keypoints. [95, 151] |
| Found 2 keypoints. [90, 137] |
| Found 2 keypoints. [103, 155] |
| Found 2 keypoints. [89, 140] |
| Found 2 keypoints. [85, 134] |
| Found 2 keypoints. [91, 139] |
| Found 2 keypoints. [89, 139] |
| Found 2 keypoints. [87, 137] |
| Found 2 keypoints. [104, 155] |
| Found 2 keypoints. [91, 141] |
| Found 2 keypoints. [87, 138] |
| Found 2 keypoints. [96, 148] |
| Found 2 keypoints. [91, 138] |
| Found 2 keypoints. [104, 162] |
| Found 2 keypoints. [87, 136] |
| Found 2 keypoints. [88, 134] |
| Found 2 keypoints. [87, 135] |
| Found 2 keypoints. [86, 135] |
| Found 2 keypoints. [90, 135] |
| Found 2 keypoints. [86, 135] |
| Found 2 keypoints. [86, 135] |
| Found 2 keypoints. [76, 129] |
| Found 2 keypoints. [87, 137] |
| Found 2 keypoints. [90, 139] |
| Found 2 keypoints. [88, 139] |
| Found 2 keypoints. [94, 148] |
| Found 2 keypoints. [104, 154] |
| Found 2 keypoints. [92, 139] |
| Found 2 keypoints. [99, 153] |
| Found 2 keypoints. [96, 151] |
| Found 2 keypoints. [87, 137] |
| Found 2 keypoints. [92, 146] |
| Found 2 keypoints. [78, 125] |
| Found 2 keypoints. [86, 136] |
| Found 2 keypoints. [78, 132] |
| Found 2 keypoints. [97, 150] |
| Found 2 keypoints. [89, 135] |
| Found 2 keypoints. [83, 132] |
| Found 2 keypoints. [85, 134] |
| Found 2 keypoints. [91, 141] |
| Found 2 keypoints. [87, 135] |
| Found 2 keypoints. [91, 145] |
| Found 2 keypoints. [92, 141] |
| Found 2 keypoints. [93, 142] |
| Found 2 keypoints. [88, 134] |
| Found 2 keypoints. [87, 135] |
| Found 2 keypoints. [92, 138] |
| Found 1 keypoints. [127] |
| Found 2 keypoints. [88, 139] |
| Found 2 keypoints. [93, 144] |
| Found 2 keypoints. [85, 136] |
| Found 2 keypoints. [85, 135] |
| Found 2 keypoints. [84, 137] |
| Found 2 keypoints. [92, 142] |
| Found 2 keypoints. [85, 136] |
| Found 2 keypoints. [93, 143] |
| Found 2 keypoints. [81, 129] |
| Found 2 keypoints. [84, 136] |
| Found 2 keypoints. [85, 135] |
| Found 2 keypoints. [89, 139] |
| Found 2 keypoints. [90, 142] |
| Found 2 keypoints. [86, 137] |
| Found 2 keypoints. [82, 130] |
| Found 2 keypoints. [93, 146] |
| Found 4 keypoints. [73, 89, 97, 129] |
| Found 4 keypoints. [76, 92, 100, 125] |
| Found 4 keypoints. [67, 83, 90, 116] |
| Found 4 keypoints. [65, 81, 89, 120] |
| Found 4 keypoints. [79, 112, 120, 162] |
| Found 4 keypoints. [66, 83, 91, 119] |
| Found 4 keypoints. [80, 96, 104, 131] |
| Found 4 keypoints. [78, 97, 105, 142] |
| Found 4 keypoints. [72, 89, 97, 132] |
| Found 4 keypoints. [76, 93, 102, 129] |
| Found 4 keypoints. [68, 84, 92, 116] |
| Found 4 keypoints. [70, 86, 94, 119] |
| Found 4 keypoints. [73, 91, 98, 134] |
| Found 4 keypoints. [73, 88, 96, 126] |
| Found 4 keypoints. [84, 103, 111, 164] |
| Found 4 keypoints. [80, 98, 106, 143] |
| Found 4 keypoints. [77, 94, 102, 147] |
| Found 4 keypoints. [73, 93, 102, 133] |
| Found 4 keypoints. [70, 87, 95, 121] |
| Found 4 keypoints. [72, 90, 99, 129] |
| Found 4 keypoints. [68, 85, 94, 121] |
| Found 4 keypoints. [82, 99, 106, 145] |
| Found 4 keypoints. [74, 90, 98, 128] |
| Found 4 keypoints. [74, 91, 99, 136] |
| Found 4 keypoints. [65, 83, 92, 122] |
| Found 4 keypoints. [65, 80, 89, 117] |
| Found 4 keypoints. [78, 96, 105, 140] |
| Found 4 keypoints. [80, 99, 106, 156] |
| Found 4 keypoints. [68, 84, 92, 120] |
| Found 4 keypoints. [76, 93, 102, 129] |
| Found 4 keypoints. [80, 102, 109, 137] |
| Found 4 keypoints. [79, 103, 110, 155] |
| Found 4 keypoints. [78, 95, 104, 148] |
| Found 4 keypoints. [74, 91, 99, 138] |
| Found 4 keypoints. [74, 91, 99, 131] |
| Found 4 keypoints. [82, 99, 108, 145] |
| Found 4 keypoints. [70, 86, 94, 125] |
| Found 4 keypoints. [66, 82, 90, 120] |
| Found 4 keypoints. [65, 83, 92, 118] |
| Found 4 keypoints. [73, 97, 104, 141] |
| Found 4 keypoints. [78, 106, 114, 145] |
| Found 4 keypoints. [72, 87, 95, 118] |
| Found 7 keypoints. [63, 66, 73, 74, 99, 107, 143] |
| Found 4 keypoints. [76, 93, 100, 141] |
| Found 4 keypoints. [72, 88, 95, 134] |
| Found 4 keypoints. [86, 103, 111, 148] |
| Found 4 keypoints. [78, 100, 108, 135] |
| Found 4 keypoints. [70, 86, 94, 125] |
| Found 4 keypoints. [76, 92, 99, 138] |
| Found 4 keypoints. [69, 85, 93, 125] |
| Found 4 keypoints. [69, 85, 93, 126] |
| Found 4 keypoints. [78, 95, 102, 140] |
| Found 4 keypoints. [69, 86, 94, 122] |
| Found 4 keypoints. [78, 99, 109, 144] |
| Found 4 keypoints. [68, 89, 98, 123] |
| Found 4 keypoints. [77, 95, 102, 129] |
| Found 4 keypoints. [79, 99, 108, 135] |
| Found 4 keypoints. [82, 99, 108, 140] |
| Found 4 keypoints. [68, 85, 93, 119] |
| Found 4 keypoints. [74, 90, 98, 133] |
| Found 4 keypoints. [82, 99, 108, 143] |
| Found 4 keypoints. [79, 95, 103, 135] |
| Found 4 keypoints. [75, 89, 97, 130] |
| Found 4 keypoints. [77, 94, 103, 139] |
| Found 4 keypoints. [73, 91, 97, 142] |
| Found 4 keypoints. [76, 92, 101, 131] |
| Found 4 keypoints. [76, 93, 102, 130] |
| Found 4 keypoints. [80, 98, 107, 148] |
| Found 4 keypoints. [79, 105, 113, 146] |
| Found 4 keypoints. [67, 84, 93, 121] |
| Found 4 keypoints. [76, 93, 102, 137] |
| Found 4 keypoints. [74, 90, 98, 128] |
| Found 4 keypoints. [73, 89, 97, 133] |
| Found 4 keypoints. [77, 94, 102, 140] |
| Found 4 keypoints. [72, 95, 102, 141] |
| Found 4 keypoints. [67, 83, 91, 125] |
| Found 4 keypoints. [73, 89, 98, 123] |
| Found 4 keypoints. [76, 92, 100, 136] |
| Found 4 keypoints. [78, 96, 105, 139] |
| Found 4 keypoints. [79, 95, 103, 137] |
| Found 4 keypoints. [70, 86, 95, 119] |
| Found 4 keypoints. [68, 84, 91, 126] |
| Found 4 keypoints. [67, 85, 94, 119] |
| Found 4 keypoints. [66, 82, 90, 118] |
| Found 4 keypoints. [75, 92, 100, 124] |
| Found 4 keypoints. [71, 88, 96, 128] |
| Found 4 keypoints. [67, 82, 91, 118] |
| Found 4 keypoints. [81, 101, 110, 145] |
| Found 4 keypoints. [79, 95, 103, 139] |
| Found 4 keypoints. [70, 111, 120, 150] |
| Found 4 keypoints. [65, 82, 91, 118] |
| Found 4 keypoints. [74, 91, 99, 143] |
| Found 4 keypoints. [79, 112, 121, 148] |
| Found 4 keypoints. [81, 97, 104, 136] |
| Found 4 keypoints. [75, 92, 100, 136] |
| Found 4 keypoints. [73, 88, 96, 121] |
| Found 4 keypoints. [72, 89, 98, 123] |
| Found 4 keypoints. [77, 94, 103, 129] |
| Found 4 keypoints. [83, 101, 110, 147] |
| Found 4 keypoints. [64, 83, 91, 117] |
| [03/30/26 07:29:49] INFO INFO:root: |
| Params: 44677231 |
| INFO INFO:root: |
| Params: 44677743 |
| Error executing job with overrides: ['method=PERACT_BC', 'ddp.num_devices=1', 'ddp.master_port=12992', 'framework.logdir=/workspace/baselines/AnyBimanual_overlap_runs', 'framework.start_seed=0', 'framework.use_wandb=False', 'framework.wandb_project=', 'framework.wandb_group=peract_bc_subset3_overlap_smoke200', 'framework.wandb_name=peract_bc_subset3_overlap_smoke200', 'framework.gpu=0', 'framework.env_gpu=0', 'framework.anybimanual=True', 'framework.augmentation_type=ab', 'framework.training_iterations=200', 'framework.save_freq=200', 'framework.log_freq=50', 'framework.seeds=1', 'framework.num_workers=0', 'replay.batch_size=2', 'replay.path=/workspace/baselines/AnyBimanual_overlap_replay', 'replay.task_folder=multi', 'replay.max_parallel_processes=8', 'rlbench.task_name=peract_bc_subset3_overlap_smoke200', 'rlbench.tasks=[coordinated_push_box,coordinated_lift_ball,dual_push_buttons]', 'rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root', 'rlbench.demos=100', 'rlbench.episode_length=25'] |
| Traceback (most recent call last): |
| File "/workspace/third_party/AnyBimanual/train.py", line 98, in main |
| mp.spawn( |
| File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/multiprocessing/spawn.py", line 340, in spawn |
| return start_processes(fn, args, nprocs, join, daemon, start_method="spawn") |
| File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/multiprocessing/spawn.py", line 296, in start_processes |
| while not context.join(): |
| File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/multiprocessing/spawn.py", line 211, in join |
| raise ProcessRaisedException(msg, error_index, failed_process.pid) |
| torch.multiprocessing.spawn.ProcessRaisedException: |
|
|
| -- Process 0 terminated with the following error: |
| Traceback (most recent call last): |
| File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/multiprocessing/spawn.py", line 87, in _wrap |
| fn(i, *args) |
| File "/workspace/third_party/AnyBimanual/run_seed_fn.py", line 238, in run_seed |
| train_runner.start() |
| File "/workspace/third_party/AnyBimanual/third_party/YARR/yarr/runners/offline_train_runner.py", line 125, in start |
| self._agent.load_weights(file_path) |
| File "/workspace/third_party/AnyBimanual/third_party/YARR/yarr/agents/agent.py", line 337, in load_weights |
| self.leader_agent.load_weights(savedir) |
| File "/workspace/third_party/AnyBimanual/helpers/preprocess_agent.py", line 125, in load_weights |
| self._pose_agent.load_weights(savedir) |
| File "/workspace/third_party/AnyBimanual/agents/peract_bc/qattention_stack_agent.py", line 128, in load_weights |
| qa.load_weights(savedir) |
| File "/workspace/third_party/AnyBimanual/agents/peract_bc/qattention_peract_bc_agent.py", line 861, in load_weights |
| state_dict = torch.load(weight_file, map_location=device) |
| File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/serialization.py", line 1530, in load |
| with _open_file_like(f, "rb") as opened_file: |
| File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/serialization.py", line 795, in _open_file_like |
| return _open_file(name_or_buffer, mode) |
| File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/serialization.py", line 776, in __init__ |
| super().__init__(open(name, mode)) |
| FileNotFoundError: [Errno 2] No such file or directory: '/path/to/your/pre-trained ckpts/PERACT_BC/checkpoint_peract_bc_leader_layer_0.pt' |
|
|
|
|
| Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace. |
|
|
