diff --git a/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/data/reveal_proxies.yaml b/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/data/reveal_proxies.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cab33bea8ad5a44f936ff4d01d8ddc0ab0a4361c --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/data/reveal_proxies.yaml @@ -0,0 +1,9 @@ +dataset: + name: reveal_proxies + proxies: [foliage_proxy, bag_proxy, cloth_proxy] + image_resolution: 224 + chunk_size: 8 + action_dim: 14 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 diff --git a/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/data/rlbench_3cam.yaml b/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/data/rlbench_3cam.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d6a2a4c1ec742dccc6b4bb28dbc3b5178e08187b --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/data/rlbench_3cam.yaml @@ -0,0 +1,8 @@ +dataset: + name: rlbench_3cam + cameras: [front, wrist_left, wrist_right] + image_resolution: 224 + chunk_size: 8 + action_dim: 14 + include_point_cloud_for_peract2: true + task_split: peract2 diff --git a/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/model/reveal_state.yaml b/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/model/reveal_state.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6d93f14efe43a8e05402e9ac128d743d0f775918 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/model/reveal_state.yaml @@ -0,0 +1,47 @@ +policy: + backbone: + model_name: openai/clip-vit-base-patch32 + hidden_dim: 512 + max_text_tokens: 32 + freeze_backbone: true + gradient_checkpointing: true + 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 + decoder: + hidden_dim: 512 + num_heads: 8 + num_layers: 4 + ff_dim: 2048 + dropout: 0.1 + chunk_size: 8 + action_dim: 14 + num_candidates: 8 + reveal_head: + hidden_dim: 512 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + belief_map_size: 32 + predict_belief_map: false + world_model: + hidden_dim: 512 + action_dim: 14 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + planner: + num_candidates: 8 + corridor_weight: 1.0 + persistence_weight: 0.5 + proposal_weight: 0.5 + disturbance_weight: 0.75 + reocclusion_weight: 0.5 + visibility_weight: 0.25 diff --git a/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_subset3_reveal_state_dummy.yaml b/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_subset3_reveal_state_dummy.yaml new file mode 100644 index 0000000000000000000000000000000000000000..109c6231c3f1c60eb0bdfb0e6a9d984680821a4b --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/code/reveal_vla_bimanual/train/configs/rlbench_subset3_reveal_state_dummy.yaml @@ -0,0 +1,97 @@ +experiment_name: rlbench_subset3_reveal_state_dummy +output_dir: /workspace/outputs/rlbench_custom +device: cuda +seed: 7 +init_checkpoint: /workspace/outputs/reveal_runs/proxy_reveal_state/checkpoint_best.pt +init_strict: false + +data: + dataset_root: /workspace/data/rlbench2 + tasks: [bimanual_lift_ball, bimanual_push_box, bimanual_dual_push_buttons] + train_episodes: [0] + val_episodes: [1] + resolution: 224 + chunk_horizon: 8 + proprio_dim: 32 + history_steps: 2 + +optim: + epochs: 2 + batch_size: 4 + num_workers: 0 + lr: 0.0005 + weight_decay: 0.0001 + +trainer: + policy_type: reveal_state + 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 + +policy: + backbone: + model_name: openai/clip-vit-base-patch32 + hidden_dim: 128 + max_text_tokens: 32 + freeze_backbone: true + gradient_checkpointing: false + use_dummy_backbone: true + fusion: + hidden_dim: 128 + num_cameras: 3 + num_layers: 2 + num_heads: 4 + ff_dim: 256 + dropout: 0.1 + proprio_dim: 32 + proprio_tokens: 1 + memory: + hidden_dim: 128 + history_steps: 2 + num_layers: 1 + dropout: 0.1 + decoder: + hidden_dim: 128 + num_heads: 4 + num_layers: 2 + ff_dim: 256 + dropout: 0.1 + chunk_size: 8 + action_dim: 14 + num_candidates: 8 + reveal_head: + hidden_dim: 128 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + belief_map_size: 32 + field_size: 16 + num_heads: 4 + predict_belief_map: true + world_model: + hidden_dim: 128 + action_dim: 14 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + planner: + hidden_dim: 128 + num_candidates: 8 + action_dim: 14 + utility_margin: 0.1 + +loss_weights: + action: 1.0 + support_mode: 0.15 + corridor: 0.2 + persistence: 0.1 + disturbance: 0.1 + world_model: 0.2 + belief: 0.05 + planner_success: 0.0 + planner_risk: 0.0 + planner_ranking: 0.0 diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/conftest.py b/code/VLAarchtests2_code/VLAarchtests/tests/conftest.py new file mode 100644 index 0000000000000000000000000000000000000000..5d431d5a7fbc260eb5b60ee9dd195d67b55bfbc2 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/conftest.py @@ -0,0 +1,178 @@ +import sys +from pathlib import Path + +import pytest +import torch + +REPO_ROOT = Path(__file__).resolve().parents[1] +sys.path.insert(0, str(REPO_ROOT / "code" / "reveal_vla_bimanual")) + +from models.action_decoder import ChunkDecoderConfig +from models.backbones import FrozenVLBackboneConfig +from models.multiview_fusion import MultiViewFusionConfig +from models.observation_memory import ObservationMemoryConfig +from models.planner import PlannerConfig +from models.policy import PolicyConfig +from models.reveal_head import RevealHeadConfig +from models.world_model import RevealWMConfig +from train.trainer import TrainerConfig + + +@pytest.fixture +def tiny_policy_config(): + def _factory( + hidden_dim: int = 16, + chunk_size: int = 2, + num_candidates: int = 4, + top_k: int = 2, + field_size: int = 4, + belief_map_size: int = 8, + ) -> PolicyConfig: + return PolicyConfig( + backbone=FrozenVLBackboneConfig( + hidden_dim=hidden_dim, + freeze_backbone=True, + gradient_checkpointing=False, + use_dummy_backbone=True, + depth_patch_size=8, + ), + fusion=MultiViewFusionConfig( + hidden_dim=hidden_dim, + num_layers=1, + num_heads=4, + ff_dim=hidden_dim * 4, + dropout=0.0, + ), + memory=ObservationMemoryConfig( + hidden_dim=hidden_dim, + num_heads=4, + dropout=0.0, + history_steps=2, + scene_history_steps=2, + belief_history_steps=3, + max_history_steps=4, + scene_bank_size=2, + belief_bank_size=2, + ), + decoder=ChunkDecoderConfig( + hidden_dim=hidden_dim, + num_heads=4, + num_layers=1, + ff_dim=hidden_dim * 4, + dropout=0.0, + chunk_size=chunk_size, + num_candidates=num_candidates, + num_proposal_modes=7, + planner_top_k=top_k, + ), + reveal_head=RevealHeadConfig( + hidden_dim=hidden_dim, + num_heads=4, + field_size=field_size, + belief_map_size=belief_map_size, + predict_belief_map=True, + ), + world_model=RevealWMConfig( + hidden_dim=hidden_dim, + num_heads=4, + field_size=field_size, + belief_map_size=belief_map_size, + scene_bank_size=2, + belief_bank_size=2, + ), + planner=PlannerConfig( + hidden_dim=hidden_dim, + num_heads=4, + num_layers=1, + num_candidates=num_candidates, + top_k=top_k, + ), + ) + + return _factory + + +@pytest.fixture +def tiny_trainer_config(): + def _factory(policy_type: str = "elastic_reveal") -> TrainerConfig: + return TrainerConfig( + policy_type=policy_type, + use_bf16=False, + gradient_checkpointing=False, + freeze_backbone=True, + plan_during_train=True, + plan_during_eval=True, + ) + + return _factory + + +@pytest.fixture +def tiny_batch(): + def _factory( + batch_size: int = 2, + history_steps: int = 2, + resolution: int = 16, + chunk_size: int = 2, + ) -> dict[str, torch.Tensor | list[str]]: + images = torch.rand(batch_size, 3, 3, resolution, resolution) + depths = torch.rand(batch_size, 3, 1, resolution, resolution) + batch = { + "images": images, + "depths": depths, + "depth_valid": torch.ones_like(depths), + "camera_intrinsics": torch.eye(3).view(1, 1, 3, 3).expand(batch_size, 3, 3, 3).clone(), + "camera_extrinsics": torch.eye(4).view(1, 1, 4, 4).expand(batch_size, 3, 4, 4).clone(), + "camera_valid_mask": torch.ones(batch_size, 3), + "proprio": torch.rand(batch_size, 32), + "texts": ["test task"] * batch_size, + "task_name": ["bag"] * batch_size, + "task_id": torch.ones(batch_size, dtype=torch.long), + "task_names": ["bag"] * batch_size, + "task_ids": torch.ones(batch_size, dtype=torch.long), + "history_images": torch.rand(batch_size, history_steps, 3, 3, resolution, resolution), + "history_depths": torch.rand(batch_size, history_steps, 3, 1, resolution, resolution), + "history_depth_valid": torch.ones(batch_size, history_steps, 3, 1, resolution, resolution), + "history_camera_intrinsics": torch.eye(3).view(1, 1, 1, 3, 3).expand(batch_size, history_steps, 3, 3, 3).clone(), + "history_camera_extrinsics": torch.eye(4).view(1, 1, 1, 4, 4).expand(batch_size, history_steps, 3, 4, 4).clone(), + "history_camera_valid_mask": torch.ones(batch_size, history_steps, 3), + "history_proprio": torch.rand(batch_size, history_steps, 32), + "history_actions": torch.rand(batch_size, history_steps, 14), + "action_chunk": torch.rand(batch_size, chunk_size, 14), + } + return batch + + return _factory + + +@pytest.fixture +def tiny_state(): + def _factory(batch_size: int = 2, field_size: int = 4) -> dict[str, torch.Tensor]: + return { + "target_belief_field": torch.rand(batch_size, 1, field_size, field_size), + "visibility_field": torch.rand(batch_size, 1, field_size, field_size), + "clearance_field": torch.rand(batch_size, 2, field_size, field_size), + "occluder_contact_field": torch.rand(batch_size, 1, field_size, field_size), + "grasp_affordance_field": torch.rand(batch_size, 1, field_size, field_size), + "support_stability_field": torch.rand(batch_size, 1, field_size, field_size), + "persistence_field": torch.rand(batch_size, 1, field_size, field_size), + "reocclusion_field": torch.rand(batch_size, 1, field_size, field_size), + "disturbance_field": torch.rand(batch_size, 1, field_size, field_size), + "risk_field": torch.rand(batch_size, 1, field_size, field_size), + "uncertainty_field": torch.rand(batch_size, 1, field_size, field_size), + "access_field": torch.rand(batch_size, 3, field_size, field_size), + "support_mode_logits": torch.rand(batch_size, 3), + "phase_logits": torch.rand(batch_size, 5), + "arm_role_logits": torch.rand(batch_size, 2, 4), + "interaction_tokens": torch.rand(batch_size, 8, 16), + "field_tokens": torch.rand(batch_size, field_size * field_size, 16), + "latent_summary": torch.rand(batch_size, 16), + "corridor_logits": torch.rand(batch_size, 3, 32), + "persistence_horizon": torch.rand(batch_size, 3), + "disturbance_cost": torch.rand(batch_size), + "reocclusion_logit": torch.rand(batch_size, 3), + "belief_map": torch.rand(batch_size, 1, 8, 8), + "compact_state": torch.rand(batch_size, 30), + } + + return _factory diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_anybimanual_overlap_eval_summary.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_anybimanual_overlap_eval_summary.py new file mode 100644 index 0000000000000000000000000000000000000000..3176dbe97ef98aa0698e96cf9cd90b72012fc9ad --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_anybimanual_overlap_eval_summary.py @@ -0,0 +1,77 @@ +from __future__ import annotations + +from eval.summarize_anybimanual_overlap_eval import ( + _best_overlap_step, + _delta, + _last_overlap_step, + _merge_rows_by_step, +) + + +def _row(step: int, **values: str) -> dict[str, str]: + base = {"step": str(step)} + base.update(values) + return base + + +def test_merge_rows_by_step_fills_missing_values() -> None: + rows = [ + _row(600, **{"eval_envs/return/coordinated_push_box": "10"}), + _row(600, **{"eval_envs/return/coordinated_lift_ball": "4"}), + _row(600, **{"eval_envs/return/dual_push_buttons": "20"}), + ] + merged = _merge_rows_by_step(rows) + assert len(merged) == 1 + assert merged[0]["eval_envs/return/coordinated_push_box"] == "10" + assert merged[0]["eval_envs/return/coordinated_lift_ball"] == "4" + assert merged[0]["eval_envs/return/dual_push_buttons"] == "20" + + +def test_overlap_summary_picks_last_local_and_best_public() -> None: + local_rows = _merge_rows_by_step( + [ + _row( + 200, + **{ + "eval_envs/return/coordinated_push_box": "0", + "eval_envs/return/coordinated_lift_ball": "0", + "eval_envs/return/dual_push_buttons": "0", + }, + ), + _row( + 1000, + **{ + "eval_envs/return/coordinated_push_box": "15", + "eval_envs/return/coordinated_lift_ball": "8", + "eval_envs/return/dual_push_buttons": "20", + }, + ), + ] + ) + public_rows = _merge_rows_by_step( + [ + _row( + 50000, + **{ + "eval_envs/return/coordinated_push_box": "18", + "eval_envs/return/coordinated_lift_ball": "6", + "eval_envs/return/dual_push_buttons": "20", + }, + ), + _row( + 60000, + **{ + "eval_envs/return/coordinated_push_box": "20", + "eval_envs/return/coordinated_lift_ball": "8", + "eval_envs/return/dual_push_buttons": "24", + }, + ), + ] + ) + local_last = _last_overlap_step(local_rows, 25) + public_best = _best_overlap_step(public_rows, 25) + assert local_last["step"] == 1000 + assert public_best["step"] == 60000 + assert public_best["mean_success"] > local_last["mean_success"] + delta = _delta(local_last, public_best) + assert delta["mean_success_delta"] < 0.0 diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_anybimanual_resume_logic.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_anybimanual_resume_logic.py new file mode 100644 index 0000000000000000000000000000000000000000..a09b3c3a6d43c722755aee6ec6cf37b498d77fa5 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_anybimanual_resume_logic.py @@ -0,0 +1,73 @@ +import os +import tempfile + +from yarr.runners.weight_init_utils import resolve_initial_weight_state + + +def _make_weight_dir(root, step): + os.makedirs(os.path.join(root, str(step)), exist_ok=True) + + +def test_anybimanual_prefers_existing_weights_when_resume_enabled(): + with tempfile.TemporaryDirectory() as weightsdir, tempfile.TemporaryDirectory() as pretrained_dir: + _make_weight_dir(weightsdir, 0) + _make_weight_dir(weightsdir, 200) + + start_iter, load_dir, load_source = resolve_initial_weight_state( + weightsdir=weightsdir, + load_existing_weights=True, + anybimanual=True, + pretrained_dir=pretrained_dir, + ) + + assert start_iter == 200 + assert load_dir == os.path.join(weightsdir, "200") + assert load_source == "resume" + + +def test_anybimanual_falls_back_to_pretrained_without_existing_weights(): + with tempfile.TemporaryDirectory() as weightsdir, tempfile.TemporaryDirectory() as pretrained_dir: + start_iter, load_dir, load_source = resolve_initial_weight_state( + weightsdir=weightsdir, + load_existing_weights=True, + anybimanual=True, + pretrained_dir=pretrained_dir, + ) + + assert start_iter == 0 + assert load_dir == pretrained_dir + assert load_source == "pretrained" + + +def test_non_anybimanual_with_no_resume_starts_fresh(): + with tempfile.TemporaryDirectory() as weightsdir: + _make_weight_dir(weightsdir, 0) + _make_weight_dir(weightsdir, 200) + + start_iter, load_dir, load_source = resolve_initial_weight_state( + weightsdir=weightsdir, + load_existing_weights=False, + anybimanual=False, + ) + + assert start_iter == 0 + assert load_dir is None + assert load_source is None + + +def test_anybimanual_raises_when_pretrained_dir_missing(): + with tempfile.TemporaryDirectory() as weightsdir: + missing_pretrained = os.path.join(weightsdir, "missing_pretrained") + + try: + resolve_initial_weight_state( + weightsdir=weightsdir, + load_existing_weights=False, + anybimanual=True, + pretrained_dir=missing_pretrained, + ) + raised = False + except FileNotFoundError: + raised = True + + assert raised diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_backbone_only_rgbd_forward.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_backbone_only_rgbd_forward.py new file mode 100644 index 0000000000000000000000000000000000000000..3c8fe4213cf263b8fb5671e90bd7ebf7660a42fd --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_backbone_only_rgbd_forward.py @@ -0,0 +1,27 @@ +from train.trainer import build_policy + + +def test_backbone_only_policy_accepts_rgbd_batch(tiny_policy_config, tiny_trainer_config, tiny_batch): + config = tiny_policy_config() + batch = tiny_batch(chunk_size=config.decoder.chunk_size) + policy = build_policy(config, tiny_trainer_config(policy_type="backbone_only")) + + output = policy( + images=batch["images"], + depths=batch["depths"], + depth_valid=batch["depth_valid"], + camera_intrinsics=batch["camera_intrinsics"], + camera_extrinsics=batch["camera_extrinsics"], + proprio=batch["proprio"], + texts=batch["texts"], + history_images=batch["history_images"], + history_depths=batch["history_depths"], + history_depth_valid=batch["history_depth_valid"], + history_camera_intrinsics=batch["history_camera_intrinsics"], + history_camera_extrinsics=batch["history_camera_extrinsics"], + history_proprio=batch["history_proprio"], + history_actions=batch["history_actions"], + ) + + assert output["action_mean"].shape[0] == batch["images"].shape[0] + assert output["scene_tokens"].shape[0] == batch["images"].shape[0] diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_build_task_specialized_episode_specs.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_build_task_specialized_episode_specs.py new file mode 100644 index 0000000000000000000000000000000000000000..e4abfa9601f485f22e3031c8899d7c246d084b85 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_build_task_specialized_episode_specs.py @@ -0,0 +1,39 @@ +from __future__ import annotations + +import json +import subprocess +import sys +from pathlib import Path + + +def test_build_task_specialized_episode_specs(tmp_path: Path) -> None: + output_path = tmp_path / "specs.json" + script_path = Path("/workspace/VLAarchtests/code/reveal_vla_bimanual/sim_reveal/build_task_specialized_episode_specs.py") + + subprocess.run( + [ + sys.executable, + str(script_path), + "--task-name", + "bag", + "--base-seed", + "123", + "--block", + "nominal,medium,2", + "--block", + "one_sided_slip,hard,3", + "--output-path", + str(output_path), + ], + check=True, + ) + + specs = json.loads(output_path.read_text(encoding="utf-8")) + assert len(specs) == 5 + assert all(spec["proxy_name"] == "bag_proxy" for spec in specs) + assert all(spec["task_name"] == "bag" for spec in specs) + assert all(spec["task_id"] == 1 for spec in specs) + assert specs[0]["stress_slice"] == "nominal" + assert specs[0]["difficulty_bin"] == "medium" + assert specs[-1]["stress_slice"] == "one_sided_slip" + assert specs[-1]["difficulty_bin"] == "hard" diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_dataset_hard_negative_presence.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_dataset_hard_negative_presence.py new file mode 100644 index 0000000000000000000000000000000000000000..1bc396c858bc93e0976d60fb624aa26c4381e5e1 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_dataset_hard_negative_presence.py @@ -0,0 +1,25 @@ +from sim_reveal.dataset import collect_teacher_dataset +from sim_reveal.procedural_envs import available_proxy_names + + +def test_dataset_hard_negative_presence(): + dataset_bundle = collect_teacher_dataset( + proxy_names=available_proxy_names(), + episodes_per_proxy=1, + resolution=32, + seed=3, + chunk_horizon=4, + rollout_horizon=4, + planner_candidates=6, + ) + negative_families = set() + hard_negative_count = 0 + for sample in dataset_bundle["samples"]: + hard_negative_count += int(sum(sample["candidate_is_hard_negative"])) + negative_families.update( + family + for family in sample["candidate_negative_families"] + if family not in {"teacher", "positive"} + ) + assert hard_negative_count > 0 + assert {"premature_retrieve", "reveal_with_release"}.issubset(negative_families) diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_proposal_mode_names_label_base_action.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_proposal_mode_names_label_base_action.py new file mode 100644 index 0000000000000000000000000000000000000000..340c987a0a840324e65a03a1d96b01745649d9de --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_proposal_mode_names_label_base_action.py @@ -0,0 +1,35 @@ +from __future__ import annotations + +import torch + +from models.action_decoder import ChunkDecoderConfig, SymmetricCoordinatedChunkDecoder + + +def test_proposal_mode_names_label_slot0_as_base_action() -> None: + config = ChunkDecoderConfig( + hidden_dim=32, + num_heads=4, + num_layers=1, + ff_dim=64, + dropout=0.0, + chunk_size=2, + 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, + ) + decoder = SymmetricCoordinatedChunkDecoder(config) + base_action = torch.zeros(1, config.chunk_size, config.action_dim) + pooled_context = torch.zeros(1, config.action_dim + (config.hidden_dim * 2)) + + _, _, _, proposal_mode_names = decoder._proposal_outputs( + base_action=base_action, + pooled_context=pooled_context, + task_names=["bag"], + ) + + assert proposal_mode_names[0][0] == "base_action" + assert "widen_mouth" in proposal_mode_names[0] diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_proposal_semantic_diversity.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_proposal_semantic_diversity.py new file mode 100644 index 0000000000000000000000000000000000000000..6cadd8b8e6b31b013ad9c9e2662bdda75a8b9767 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_proposal_semantic_diversity.py @@ -0,0 +1,19 @@ +import numpy as np + +from sim_reveal.procedural_envs import BAG_PROXY, make_proxy_env + + +def test_proposal_semantic_diversity(): + env = make_proxy_env(proxy_name=BAG_PROXY.name, resolution=32, seed=7, rollout_horizon=4) + _, _ = env.reset(seed=7) + teacher_chunk, _ = env.teacher_chunk_and_rollout(chunk_horizon=4, rollout_horizon=4) + candidates, outcomes = env.sample_candidate_action_chunks( + teacher_chunk=teacher_chunk, + num_candidates=6, + rollout_horizon=4, + ) + + assert candidates.shape[0] == 6 + assert len(set(outcomes["candidate_macro_names"])) >= 4 + assert len(set(outcomes["candidate_negative_families"])) >= 3 + assert float(np.std(outcomes["candidate_utility"])) > 0.0 diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_proxy_scripted_bench.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_proxy_scripted_bench.py new file mode 100644 index 0000000000000000000000000000000000000000..58248f1b0c0119cd35c865164d9629235baa82e6 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_proxy_scripted_bench.py @@ -0,0 +1,58 @@ +from sim_reveal.procedural_envs import BAG_PROXY, CLOTH_PROXY, FOLIAGE_PROXY, make_proxy_env + + +def test_proxy_scripted_bench(): + bag_wins = 0 + foliage_wins = 0 + cloth_wins = 0 + for seed in range(10): + bag_env = make_proxy_env(proxy_name=BAG_PROXY.name, resolution=32, seed=seed, rollout_horizon=4) + bag_env.reset(seed=seed) + maintain = bag_env.evaluate_action_chunk(bag_env.macro_action_chunk("maintain_mouth", chunk_horizon=4), rollout_horizon=4) + retrieve = bag_env.evaluate_action_chunk(bag_env.macro_action_chunk("premature_retrieve", chunk_horizon=4), rollout_horizon=4) + if (maintain["hold_persistence"] >= retrieve["hold_persistence"]) and (maintain["reocclusion_rate"] <= retrieve["reocclusion_rate"]): + bag_wins += 1 + + foliage_env = make_proxy_env(proxy_name=FOLIAGE_PROXY.name, resolution=32, seed=seed, rollout_horizon=4) + foliage_env.reset(seed=seed) + pin = foliage_env.evaluate_action_chunk(foliage_env.macro_action_chunk("pin_canopy", chunk_horizon=4), rollout_horizon=4) + swipe = foliage_env.evaluate_action_chunk(foliage_env.macro_action_chunk("foliage_immediate_reocclusion", chunk_horizon=4), rollout_horizon=4) + if (pin["reocclusion_rate"] <= swipe["reocclusion_rate"]) and (pin["visibility_integral"] >= swipe["visibility_integral"]): + foliage_wins += 1 + + cloth_env = make_proxy_env(proxy_name=CLOTH_PROXY.name, resolution=32, seed=seed, rollout_horizon=4) + cloth_env.reset(seed=seed) + stabilize = cloth_env.evaluate_action_chunk(cloth_env.macro_action_chunk("stabilize_fold", chunk_horizon=4), rollout_horizon=4) + lift_high = cloth_env.evaluate_action_chunk(cloth_env.macro_action_chunk("cloth_lift_high", chunk_horizon=4), rollout_horizon=4) + if (stabilize["candidate_fold_preservation"] >= lift_high["candidate_fold_preservation"]) and ( + stabilize["final_disturbance_cost"] <= lift_high["final_disturbance_cost"] + ): + cloth_wins += 1 + + assert bag_wins >= 8 + assert foliage_wins >= 8 + assert cloth_wins >= 8 + + +def test_cloth_candidate_utility_penalizes_fold_damage(): + cloth_env = make_proxy_env(proxy_name=CLOTH_PROXY.name, resolution=32, seed=0, rollout_horizon=4) + gentle_reveal = { + "retrieval_success": 0.0, + "final_disturbance_cost": 0.18, + "reocclusion_rate": 0.02, + "candidate_layer_separation_quality": 0.92, + "candidate_fold_preservation": 0.78, + "candidate_top_layer_stability": 0.82, + "candidate_lift_too_much_risk": 0.08, + } + destructive_reveal = { + "retrieval_success": 0.0, + "final_disturbance_cost": 0.52, + "reocclusion_rate": 0.02, + "candidate_layer_separation_quality": 0.92, + "candidate_fold_preservation": 0.06, + "candidate_top_layer_stability": 0.18, + "candidate_lift_too_much_risk": 0.42, + } + + assert cloth_env.candidate_outcome_utility(gentle_reveal) > cloth_env.candidate_outcome_utility(destructive_reveal) diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_reocclusion_memory_regression.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_reocclusion_memory_regression.py new file mode 100644 index 0000000000000000000000000000000000000000..0a29a1b4ed513a7b15eb536a789ea03abedf5809 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_reocclusion_memory_regression.py @@ -0,0 +1,27 @@ +import torch + +from models.observation_memory import DualObservationMemory + + +def test_reocclusion_memory_regression(tiny_policy_config): + config = tiny_policy_config(hidden_dim=16) + config.memory.scene_bank_size = 4 + config.memory.belief_bank_size = 4 + memory = DualObservationMemory(config.memory) + open_scene = torch.zeros(1, 12, config.backbone.hidden_dim) + open_scene[:, :3] = 1.0 + closed_scene = torch.zeros_like(open_scene) + history = torch.stack([open_scene[0], open_scene[0]], dim=0).unsqueeze(0) + history_actions = torch.zeros(1, 2, 14) + + closed_output = memory(closed_scene, history_scene_tokens=history, history_actions=history_actions) + closed_no_history = memory( + closed_scene, + history_scene_tokens=torch.zeros_like(history), + history_actions=history_actions, + ) + belief_norm = closed_output["belief_memory_tokens"].norm() + belief_delta = (closed_output["belief_memory_tokens"] - closed_no_history["belief_memory_tokens"]).norm() + + assert belief_norm > 0.0 + assert belief_delta > 1e-3 diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_retrieve_gating_blocks_premature_retrieve.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_retrieve_gating_blocks_premature_retrieve.py new file mode 100644 index 0000000000000000000000000000000000000000..9bba7c672470458477e26958ccea8e7445f0a7cb --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_retrieve_gating_blocks_premature_retrieve.py @@ -0,0 +1,39 @@ +import torch + +from models.planner import CascadePlanner + + +def test_retrieve_gating_blocks_premature_retrieve(tiny_policy_config, tiny_state): + config = tiny_policy_config() + planner = CascadePlanner(config.planner) + initial_state = {key: value[:1] for key, value in tiny_state(field_size=config.reveal_head.field_size).items()} + rollout_horizon = config.world_model.rollout_horizon + field_size = config.reveal_head.field_size + unsafe = torch.full((1, rollout_horizon, 1, field_size, field_size), 0.05) + safe = torch.full((1, rollout_horizon, 1, field_size, field_size), 0.85) + unsafe_access = torch.full((1, rollout_horizon, 3, field_size, field_size), -6.0) + safe_access = torch.full((1, rollout_horizon, 3, field_size, field_size), 6.0) + rollout_state = { + "target_belief_field": torch.stack([safe, safe], dim=1), + "visibility_field": torch.stack([safe, safe], dim=1), + "clearance_field": torch.stack([safe.expand(-1, -1, 2, -1, -1), safe.expand(-1, -1, 2, -1, -1)], dim=1), + "occluder_contact_field": torch.stack([safe, safe], dim=1), + "grasp_affordance_field": torch.stack([safe, safe], dim=1), + "support_stability_field": torch.stack([unsafe, safe], dim=1), + "persistence_field": torch.stack([unsafe, safe], dim=1), + "reocclusion_field": torch.stack([safe, unsafe], dim=1), + "disturbance_field": torch.stack([safe, unsafe], dim=1), + "access_field": torch.stack([unsafe_access, safe_access], dim=1), + } + candidate_chunks = torch.zeros(1, 2, config.decoder.chunk_size, config.decoder.action_dim) + candidate_chunks[:, 0, :, -1] = 1.0 + proposal_mode_names = [["retrieve", "maintain_gap"]] + + selected = planner.select_best( + initial_state=initial_state, + candidate_chunks=candidate_chunks, + rollout_state=rollout_state, + proposal_mode_names=proposal_mode_names, + ) + + assert int(selected["best_indices"].item()) == 1 diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_rgb_backward_compat.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_rgb_backward_compat.py new file mode 100644 index 0000000000000000000000000000000000000000..3189e36308907f9bc4b9135e33c69c57358bbae6 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_rgb_backward_compat.py @@ -0,0 +1,33 @@ +from train.trainer import build_policy + + +def test_rgb_backward_compat(tiny_policy_config, tiny_trainer_config, tiny_batch): + config = tiny_policy_config() + batch = tiny_batch(chunk_size=config.decoder.chunk_size) + + interaction_policy = build_policy(config, tiny_trainer_config(policy_type="interaction_state")) + interaction_output = interaction_policy( + images=batch["images"], + proprio=batch["proprio"], + texts=batch["texts"], + history_images=batch["history_images"], + history_proprio=batch["history_proprio"], + history_actions=batch["history_actions"], + plan=True, + ) + assert interaction_output["action_mean"].shape[-1] == 14 + assert interaction_output["candidate_chunks"].shape[1] == config.decoder.num_candidates + + elastic_policy = build_policy(config, tiny_trainer_config(policy_type="elastic_reveal")) + elastic_output = elastic_policy( + images=batch["images"], + proprio=batch["proprio"], + texts=batch["texts"], + history_images=batch["history_images"], + history_proprio=batch["history_proprio"], + history_actions=batch["history_actions"], + plan=True, + use_depth=False, + ) + assert elastic_output["action_mean"].shape[-1] == 14 + assert elastic_output["planned_chunk"].shape == elastic_output["action_mean"].shape diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_rgbd_forward_contract.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_rgbd_forward_contract.py new file mode 100644 index 0000000000000000000000000000000000000000..b486614c60310f6dfef2f1a4788a82b96b30f51c --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_rgbd_forward_contract.py @@ -0,0 +1,34 @@ +from train.trainer import build_policy + + +def test_rgbd_forward_contract(tiny_policy_config, tiny_trainer_config, tiny_batch): + config = tiny_policy_config() + batch = tiny_batch(chunk_size=config.decoder.chunk_size) + policy = build_policy(config, tiny_trainer_config(policy_type="elastic_reveal")) + output = policy( + images=batch["images"], + depths=batch["depths"], + depth_valid=batch["depth_valid"], + camera_intrinsics=batch["camera_intrinsics"], + camera_extrinsics=batch["camera_extrinsics"], + proprio=batch["proprio"], + texts=batch["texts"], + history_images=batch["history_images"], + history_depths=batch["history_depths"], + history_depth_valid=batch["history_depth_valid"], + history_proprio=batch["history_proprio"], + history_actions=batch["history_actions"], + plan=True, + compute_equivariance_probe=True, + ) + assert output["action_mean"].shape[0] == batch["images"].shape[0] + assert output["depth_tokens"] is not None + assert output["geometry_tokens"] is not None + assert output["camera_tokens"] is not None + assert output["proposal_candidates"].shape[1] == config.decoder.num_candidates + assert output["planner_topk_indices"].shape[1] == config.planner.top_k + assert output["planned_rollout"]["target_belief_field"].shape[1] == config.planner.top_k + assert "opening_quality" in output["interaction_state"] + assert "gap_width" in output["interaction_state"] + assert "hold_quality" in output["interaction_state"] + assert output["equivariance_probe_action_mean"].shape == output["equivariance_target_action_mean"].shape diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_dataset_rgbd_geometry.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_dataset_rgbd_geometry.py new file mode 100644 index 0000000000000000000000000000000000000000..5f466bea7e064a4b70d507a4abf96f6eb08617f9 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_dataset_rgbd_geometry.py @@ -0,0 +1,111 @@ +from __future__ import annotations + +import pickle +from pathlib import Path +from types import SimpleNamespace + +import numpy as np +from PIL import Image + +from sim_rlbench.dataset import RLBENCH_DEPTH_SCALE, RLBenchOfflineChunkDataset + + +def _arm(pose_xyz: tuple[float, float, float], gripper_open: float) -> SimpleNamespace: + return SimpleNamespace( + gripper_pose=np.asarray([*pose_xyz, 0.0, 0.0, 0.0, 1.0], dtype=np.float32), + joint_positions=np.linspace(0.0, 0.6, 7, dtype=np.float32), + gripper_open=float(gripper_open), + ) + + +def _encode_depth_png(normalized_depth: np.ndarray) -> Image.Image: + scaled = np.clip(np.round(normalized_depth * RLBENCH_DEPTH_SCALE), 0, RLBENCH_DEPTH_SCALE).astype(np.uint32) + rgb = np.zeros((*scaled.shape, 3), dtype=np.uint8) + rgb[..., 0] = ((scaled >> 16) & 255).astype(np.uint8) + rgb[..., 1] = ((scaled >> 8) & 255).astype(np.uint8) + rgb[..., 2] = (scaled & 255).astype(np.uint8) + return Image.fromarray(rgb, mode="RGB") + + +def _obs(step: int) -> SimpleNamespace: + offset = 0.01 * float(step) + base_intrinsics = np.array( + [ + [40.0, 0.0, 4.0], + [0.0, 40.0, 4.0], + [0.0, 0.0, 1.0], + ], + dtype=np.float32, + ) + return SimpleNamespace( + right=_arm((0.10 + offset, 0.20, 0.30), 1.0), + left=_arm((-0.10 - offset, 0.15, 0.25), 0.0), + misc={ + "front_camera_intrinsics": base_intrinsics, + "wrist_left_camera_intrinsics": base_intrinsics, + "wrist_right_camera_intrinsics": base_intrinsics, + "front_camera_extrinsics": np.eye(4, dtype=np.float32), + "wrist_left_camera_extrinsics": np.eye(4, dtype=np.float32), + "wrist_right_camera_extrinsics": np.eye(4, dtype=np.float32), + "front_camera_near": 0.2, + "wrist_left_camera_near": 0.2, + "wrist_right_camera_near": 0.2, + "front_camera_far": 1.2, + "wrist_left_camera_far": 1.2, + "wrist_right_camera_far": 1.2, + }, + ) + + +def _write_rgb_frame(directory: Path, step: int, value: int) -> None: + directory.mkdir(parents=True, exist_ok=True) + image = np.full((8, 8, 3), fill_value=value, dtype=np.uint8) + Image.fromarray(image).save(directory / f"rgb_{step:04d}.png") + + +def _write_depth_frame(directory: Path, step: int, depth_value: float) -> None: + directory.mkdir(parents=True, exist_ok=True) + normalized = np.full((8, 8), fill_value=depth_value, dtype=np.float32) + _encode_depth_png(normalized).save(directory / f"depth_{step:04d}.png") + + +def test_rlbench_dataset_emits_rgbd_geometry(tmp_path: Path) -> None: + task_name = "bimanual_push_box" + episode_dir = tmp_path / task_name / "all_variations" / "episodes" / "episode0" + episode_dir.mkdir(parents=True, exist_ok=True) + + with (episode_dir / "variation_descriptions.pkl").open("wb") as handle: + pickle.dump(["push the box together"], handle) + with (episode_dir / "low_dim_obs.pkl").open("wb") as handle: + pickle.dump([_obs(0), _obs(1)], handle) + + for camera_name, pixel_value in (("front", 32), ("wrist_left", 96), ("wrist_right", 160)): + camera_dir = episode_dir / f"{camera_name}_rgb" + _write_rgb_frame(camera_dir, 0, pixel_value) + _write_rgb_frame(camera_dir, 1, pixel_value + 1) + depth_dir = episode_dir / f"{camera_name}_depth" + _write_depth_frame(depth_dir, 0, 0.5) + _write_depth_frame(depth_dir, 1, 0.6) + + dataset = RLBenchOfflineChunkDataset( + dataset_root=tmp_path, + tasks=[task_name], + episode_indices=[0], + resolution=4, + chunk_size=2, + history_steps=1, + ) + item = dataset[0] + + assert tuple(item["depths"].shape) == (3, 1, 4, 4) + assert tuple(item["depth_valid"].shape) == (3, 1, 4, 4) + assert tuple(item["camera_intrinsics"].shape) == (3, 3, 3) + assert tuple(item["camera_extrinsics"].shape) == (3, 4, 4) + assert tuple(item["history_depths"].shape) == (1, 3, 1, 4, 4) + assert tuple(item["history_camera_intrinsics"].shape) == (1, 3, 3, 3) + assert tuple(item["history_camera_extrinsics"].shape) == (1, 3, 4, 4) + assert item["camera_valid_mask"].tolist() == [1.0, 1.0, 1.0] + assert item["history_camera_valid_mask"].tolist() == [[1.0, 1.0, 1.0]] + assert float(item["depths"][0].mean()) > 0.6 + assert np.isclose(float(item["camera_intrinsics"][0, 0, 0]), 20.0) + assert np.isclose(float(item["camera_intrinsics"][0, 1, 1]), 20.0) diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_dataset_task_metadata.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_dataset_task_metadata.py new file mode 100644 index 0000000000000000000000000000000000000000..b1793fee0fb0202f9806c123cbc0baa20c948289 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_dataset_task_metadata.py @@ -0,0 +1,79 @@ +from __future__ import annotations + +import pickle +from pathlib import Path +from types import SimpleNamespace + +import numpy as np +from PIL import Image +import torch +from torch.utils.data import DataLoader + +from sim_rlbench.dataset import RLBenchOfflineChunkDataset, sample_weight_from_action_norms + + +def _arm(pose_xyz: tuple[float, float, float], gripper_open: float) -> SimpleNamespace: + return SimpleNamespace( + gripper_pose=np.asarray([*pose_xyz, 0.0, 0.0, 0.0, 1.0], dtype=np.float32), + joint_positions=np.linspace(0.0, 0.6, 7, dtype=np.float32), + gripper_open=float(gripper_open), + ) + + +def _obs(step: int) -> SimpleNamespace: + offset = 0.01 * float(step) + return SimpleNamespace( + right=_arm((0.10 + offset, 0.20, 0.30), 1.0), + left=_arm((-0.10 - offset, 0.15, 0.25), 0.0), + ) + + +def _write_rgb_frame(directory: Path, step: int, value: int) -> None: + directory.mkdir(parents=True, exist_ok=True) + image = np.full((8, 8, 3), fill_value=value, dtype=np.uint8) + Image.fromarray(image).save(directory / f"rgb_{step:04d}.png") + + +def test_rlbench_dataset_emits_task_metadata(tmp_path: Path) -> None: + task_name = "bimanual_push_box" + episode_dir = tmp_path / task_name / "all_variations" / "episodes" / "episode0" + episode_dir.mkdir(parents=True, exist_ok=True) + + with (episode_dir / "variation_descriptions.pkl").open("wb") as handle: + pickle.dump(["push the box together"], handle) + with (episode_dir / "low_dim_obs.pkl").open("wb") as handle: + pickle.dump([_obs(0), _obs(1)], handle) + + for camera_name, pixel_value in (("front", 32), ("wrist_left", 96), ("wrist_right", 160)): + camera_dir = episode_dir / f"{camera_name}_rgb" + _write_rgb_frame(camera_dir, 0, pixel_value) + _write_rgb_frame(camera_dir, 1, pixel_value + 1) + + dataset = RLBenchOfflineChunkDataset( + dataset_root=tmp_path, + tasks=[task_name], + episode_indices=[0], + resolution=8, + chunk_size=2, + history_steps=1, + ) + + item = dataset[0] + assert item["task"] == task_name + assert item["task_name"] == task_name + assert int(item["task_id"]) == -1 + assert item["texts"] == "push the box together" + + batch = next(iter(DataLoader(dataset, batch_size=1, shuffle=False))) + assert batch["task_name"] == [task_name] + assert batch["task_id"].tolist() == [-1] + + +def test_sample_weight_from_action_norms_biases_large_actions() -> None: + weights = sample_weight_from_action_norms( + torch.tensor([0.01, 0.05, 0.20], dtype=torch.float32), + min_norm=0.05, + power=2.0, + ) + + assert np.allclose(weights.numpy(), np.asarray([1.0, 1.0, 16.0], dtype=np.float32)) diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_init_checkpoint.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_init_checkpoint.py new file mode 100644 index 0000000000000000000000000000000000000000..488b18fb5b3c9abb71796a56fb0f3f344fea9b63 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_init_checkpoint.py @@ -0,0 +1,36 @@ +from __future__ import annotations + +from pathlib import Path + +import torch + +from train.run_rlbench_experiment import _load_init_checkpoint + + +class _TinyModule(torch.nn.Module): + def __init__(self) -> None: + super().__init__() + self.weight = torch.nn.Parameter(torch.zeros(2, 2)) + self.bias = torch.nn.Parameter(torch.zeros(2)) + + +def test_load_init_checkpoint_skips_shape_mismatch_when_not_strict(tmp_path: Path) -> None: + model = _TinyModule() + checkpoint_path = tmp_path / "checkpoint.pt" + torch.save( + { + "state_dict": { + "weight": torch.ones(3, 3), + "bias": torch.full((2,), 5.0), + } + }, + checkpoint_path, + ) + + info = _load_init_checkpoint(model, str(checkpoint_path), strict=False) + + assert info is not None + assert info["loaded_keys"] == 1 + assert info["skipped_shape_mismatch_keys"] == ["weight"] + assert torch.allclose(model.bias, torch.full((2,), 5.0)) + assert torch.allclose(model.weight, torch.zeros(2, 2)) diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_knn_eval_scene_kwargs.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_knn_eval_scene_kwargs.py new file mode 100644 index 0000000000000000000000000000000000000000..ea5007832639fd7810b0ce2d3c318b4c7d952e70 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_knn_eval_scene_kwargs.py @@ -0,0 +1,67 @@ +from __future__ import annotations + +import torch + +from eval.knn_bank_utils import filter_bank_by_action_norm +from eval.scene_encode_utils import scene_encode_kwargs + + +def test_scene_encode_kwargs_omits_rgbd_for_clip_policy() -> None: + batch = { + "depths": torch.ones(1, 3, 1, 8, 8), + "depth_valid": torch.ones(1, 3, 1, 8, 8), + "camera_intrinsics": torch.ones(1, 3, 3, 3), + "camera_extrinsics": torch.ones(1, 3, 4, 4), + } + + kwargs = scene_encode_kwargs(batch, device=torch.device("cpu"), model_uses_rgbd=False) + + assert kwargs == {} + + +def test_scene_encode_kwargs_includes_rgbd_for_rgbd_policy() -> None: + batch = { + "depths": torch.ones(1, 3, 1, 8, 8), + "depth_valid": torch.ones(1, 3, 1, 8, 8), + "camera_intrinsics": torch.ones(1, 3, 3, 3), + "camera_extrinsics": torch.ones(1, 3, 4, 4), + } + + kwargs = scene_encode_kwargs(batch, device=torch.device("cpu"), model_uses_rgbd=True) + + assert set(kwargs) == {"depths", "depth_valid", "camera_intrinsics", "camera_extrinsics"} + assert kwargs["depths"].shape == (1, 3, 1, 8, 8) + assert kwargs["camera_extrinsics"].shape == (1, 3, 4, 4) + + +def test_filter_bank_by_action_norm_filters_small_motion_actions() -> None: + bank = { + "features": torch.arange(9, dtype=torch.float32).view(3, 3), + "actions": torch.tensor( + [ + [0.0] * 14, + [0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], + [0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], + ], + dtype=torch.float32, + ), + "steps": torch.tensor([0, 1, 2], dtype=torch.int64), + } + + filtered = filter_bank_by_action_norm(bank, min_action_norm=0.1) + + assert filtered["features"].shape[0] == 1 + assert filtered["steps"].tolist() == [2] + + +def test_filter_bank_by_action_norm_preserves_bank_when_threshold_removes_everything() -> None: + bank = { + "features": torch.arange(6, dtype=torch.float32).view(2, 3), + "actions": torch.zeros(2, 14, dtype=torch.float32), + "steps": torch.tensor([0, 1], dtype=torch.int64), + } + + filtered = filter_bank_by_action_norm(bank, min_action_norm=1.0) + + assert filtered["features"].shape[0] == 2 + assert filtered["steps"].tolist() == [0, 1] diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_pickle_bootstrap.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_pickle_bootstrap.py new file mode 100644 index 0000000000000000000000000000000000000000..8e7019bf4a97dfb170813e71588b8f536beace6a --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_pickle_bootstrap.py @@ -0,0 +1,17 @@ +from __future__ import annotations + +import sys + +from sim_rlbench.dataset import _ensure_rlbench_pickle_modules + + +def test_rlbench_pickle_bootstrap_avoids_pyrep(monkeypatch) -> None: + for key in list(sys.modules): + if key == "pyrep" or key == "rlbench" or key.startswith("rlbench."): + monkeypatch.delitem(sys.modules, key, raising=False) + + _ensure_rlbench_pickle_modules() + + assert "rlbench.demo" in sys.modules + assert "rlbench.backend.observation" in sys.modules + assert "pyrep" not in sys.modules diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_task_resolver_aliases.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_task_resolver_aliases.py new file mode 100644 index 0000000000000000000000000000000000000000..a1a1340bf98f996006daee87d9840c00f182903b --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_rlbench_task_resolver_aliases.py @@ -0,0 +1,63 @@ +from __future__ import annotations + +import importlib +import sys +import types + + +def test_task_resolver_maps_overlap_aliases(monkeypatch) -> None: + calls: list[tuple[str, bool]] = [] + + def fake_task_file_to_task_class(task_name: str, bimanual: bool = False): + calls.append((task_name, bimanual)) + return {"task_name": task_name, "bimanual": bimanual} + + rlbench_pkg = types.ModuleType("rlbench") + backend_pkg = types.ModuleType("rlbench.backend") + utils_pkg = types.ModuleType("rlbench.backend.utils") + utils_pkg.task_file_to_task_class = fake_task_file_to_task_class + + monkeypatch.setitem(sys.modules, "rlbench", rlbench_pkg) + monkeypatch.setitem(sys.modules, "rlbench.backend", backend_pkg) + monkeypatch.setitem(sys.modules, "rlbench.backend.utils", utils_pkg) + sys.modules.pop("sim_rlbench.task_resolver", None) + + resolver = importlib.import_module("sim_rlbench.task_resolver") + + assert resolver.resolve_task_class("bimanual_push_box") == { + "task_name": "bimanual_push_box", + "bimanual": True, + } + assert resolver.resolve_task_class("coordinated_push_box") == { + "task_name": "bimanual_push_box", + "bimanual": True, + } + assert resolver.resolve_task_class("bimanual_lift_ball") == { + "task_name": "bimanual_lift_ball", + "bimanual": True, + } + assert resolver.resolve_task_class("coordinated_lift_ball") == { + "task_name": "bimanual_lift_ball", + "bimanual": True, + } + assert resolver.resolve_task_class("bimanual_dual_push_buttons") == { + "task_name": "bimanual_dual_push_buttons", + "bimanual": True, + } + assert resolver.resolve_task_class("dual_push_buttons") == { + "task_name": "bimanual_dual_push_buttons", + "bimanual": True, + } + assert resolver.resolve_task_class("open_drawer") == { + "task_name": "right_open_drawer", + "bimanual": True, + } + assert calls == [ + ("bimanual_push_box", True), + ("bimanual_push_box", True), + ("bimanual_lift_ball", True), + ("bimanual_lift_ball", True), + ("bimanual_dual_push_buttons", True), + ("bimanual_dual_push_buttons", True), + ("right_open_drawer", True), + ] diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_role_loss_permutation.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_role_loss_permutation.py new file mode 100644 index 0000000000000000000000000000000000000000..c277109edbbaa911d44058584c1eb18463eb9d24 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_role_loss_permutation.py @@ -0,0 +1,16 @@ +import torch + +from train.losses import permutation_invariant_role_loss + + +def test_role_loss_permutation(): + logits = torch.tensor( + [ + [[0.1, 4.0, 0.0, -1.0], [0.1, 0.0, 4.0, -1.0]], + [[0.1, 0.0, 4.0, -1.0], [0.1, 4.0, 0.0, -1.0]], + ], + dtype=torch.float32, + ) + loss_original = permutation_invariant_role_loss(logits) + loss_swapped = permutation_invariant_role_loss(logits.flip(1)) + torch.testing.assert_close(loss_original, loss_swapped) diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_rvt_backbone_forward.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_rvt_backbone_forward.py new file mode 100644 index 0000000000000000000000000000000000000000..31fad51d84d3f61948b654ff664f0ea72dea83c2 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_rvt_backbone_forward.py @@ -0,0 +1,153 @@ +from __future__ import annotations + +from pathlib import Path + +import pytest +import torch + +from models.action_decoder import ChunkDecoderConfig +from models.backbones import FrozenVLBackbone, FrozenVLBackboneConfig +from models.rvt_backbone import RVTVisualEncoder +from models.multiview_fusion import MultiViewFusionConfig +from models.observation_memory import ObservationMemoryConfig +from models.planner import PlannerConfig +from models.policy import PolicyConfig +from models.reveal_head import RevealHeadConfig +from models.world_model import RevealWMConfig +from train.trainer import TrainerConfig, build_policy + + +RVT_CHECKPOINT_PATH = Path("/workspace/models/rvt_official/rvt/model_14.pth") +RVT_MVT_CFG_PATH = Path("/workspace/models/rvt_official/rvt/mvt_cfg.yaml") + +pytestmark = pytest.mark.skipif( + not (RVT_CHECKPOINT_PATH.exists() and RVT_MVT_CFG_PATH.exists()), + reason="RVT official checkpoint assets are not installed on this machine.", +) + + +def _camera_batch() -> tuple[torch.Tensor, torch.Tensor]: + intrinsics = torch.eye(3).view(1, 1, 3, 3).expand(1, 3, 3, 3).clone() + intrinsics[:, :, 0, 0] = 30.0 + intrinsics[:, :, 1, 1] = 30.0 + intrinsics[:, :, 0, 2] = 16.0 + intrinsics[:, :, 1, 2] = 16.0 + extrinsics = torch.eye(4).view(1, 1, 4, 4).expand(1, 3, 4, 4).clone() + extrinsics[:, 1, 0, 3] = -0.1 + extrinsics[:, 2, 0, 3] = 0.1 + return intrinsics, extrinsics + + +def test_rvt_backbone_emits_five_view_tokens() -> None: + backbone = FrozenVLBackbone( + FrozenVLBackboneConfig( + backbone_type="rvt", + hidden_dim=512, + max_text_tokens=77, + freeze_backbone=True, + gradient_checkpointing=False, + rvt_point_stride=4, + rvt_max_points_per_view=128, + ) + ) + texts = ["move the box together"] + language_tokens = backbone.tokenize_text(texts, device=torch.device("cpu")) + text_features = backbone.encode_text(language_tokens["input_ids"], language_tokens["attention_mask"]) + intrinsics, extrinsics = _camera_batch() + tokens = backbone.encode_images( + images=torch.rand(1, 3, 3, 32, 32), + proprio=torch.rand(1, 32), + language_tokens=text_features, + depths=torch.rand(1, 3, 1, 32, 32) * 0.3 + 0.2, + camera_intrinsics=intrinsics, + camera_extrinsics=extrinsics, + ) + + assert tuple(tokens.shape) == (1, 5, 400, 512) + + +def test_rvt_backbone_uses_fixed_scene_bounds_for_normalization() -> None: + encoder = RVTVisualEncoder( + checkpoint_path="/workspace/models/rvt_official/rvt/model_14.pth", + mvt_cfg_path="/workspace/models/rvt_official/rvt/mvt_cfg.yaml", + output_dim=512, + input_proprio_dim=32, + renderer_device="cpu", + point_stride=4, + max_points_per_view=128, + ) + points = torch.tensor( + [ + [-0.3, -0.5, 0.6], + [0.7, 0.5, 1.6], + [0.2, 0.0, 1.1], + ], + dtype=torch.float32, + ) + normalized = encoder._normalize_world_points(points) + + assert torch.allclose(normalized[0], torch.tensor([-1.0, -1.0, -1.0])) + assert torch.allclose(normalized[1], torch.tensor([1.0, 1.0, 1.0])) + assert torch.allclose(normalized[2], torch.tensor([0.0, 0.0, 0.0]), atol=1e-6) + + +def test_backbone_only_policy_accepts_rvt_backbone() -> None: + intrinsics, extrinsics = _camera_batch() + policy = build_policy( + PolicyConfig( + backbone=FrozenVLBackboneConfig( + backbone_type="rvt", + hidden_dim=512, + max_text_tokens=77, + freeze_backbone=True, + gradient_checkpointing=False, + rvt_point_stride=4, + rvt_max_points_per_view=128, + ), + fusion=MultiViewFusionConfig( + hidden_dim=512, + num_cameras=5, + num_layers=1, + num_heads=8, + ff_dim=1024, + dropout=0.0, + proprio_dim=32, + ), + memory=ObservationMemoryConfig( + hidden_dim=512, + history_steps=1, + num_layers=1, + dropout=0.0, + ), + decoder=ChunkDecoderConfig( + hidden_dim=512, + num_heads=8, + num_layers=1, + ff_dim=1024, + dropout=0.0, + chunk_size=2, + action_dim=14, + num_candidates=2, + ), + reveal_head=RevealHeadConfig(hidden_dim=512), + world_model=RevealWMConfig(hidden_dim=512), + planner=PlannerConfig(hidden_dim=512, num_candidates=2), + ), + TrainerConfig( + policy_type="backbone_only", + use_bf16=False, + freeze_backbone=True, + gradient_checkpointing=False, + ), + ) + outputs = policy( + images=torch.rand(1, 3, 3, 32, 32), + depths=torch.rand(1, 3, 1, 32, 32) * 0.3 + 0.2, + camera_intrinsics=intrinsics, + camera_extrinsics=extrinsics, + proprio=torch.rand(1, 32), + texts=["move the box together"], + ) + + assert tuple(outputs["scene_tokens"].shape) == (1, 2007, 512) + assert tuple(outputs["action_mean"].shape) == (1, 2, 14) diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_spatial_memory_occlusion_persistence.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_spatial_memory_occlusion_persistence.py new file mode 100644 index 0000000000000000000000000000000000000000..0371d9f6a4d1cdaa3efffc52438036adca95e593 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_spatial_memory_occlusion_persistence.py @@ -0,0 +1,35 @@ +import torch + +from models.observation_memory import DualObservationMemory + + +def _slot_scene(hidden_dim: int, slot_idx: int, slot_size: int = 3) -> torch.Tensor: + scene = torch.zeros(1, slot_size * 4, hidden_dim) + start = slot_idx * slot_size + scene[:, start : start + slot_size] = 1.0 + return scene + + +def test_spatial_memory_occlusion_persistence(tiny_policy_config): + config = tiny_policy_config(hidden_dim=16) + config.memory.scene_bank_size = 4 + config.memory.belief_bank_size = 4 + memory = DualObservationMemory(config.memory) + visible = _slot_scene(config.backbone.hidden_dim, 0) + occluded = torch.zeros_like(visible) + history = torch.stack([visible[0], occluded[0]], dim=0).unsqueeze(0) + history_actions = torch.zeros(1, 2, 14) + + during_occlusion = memory(occluded, history_scene_tokens=history, history_actions=history_actions) + no_history = memory( + occluded, + history_scene_tokens=torch.zeros_like(history), + history_actions=history_actions, + ) + on_reappearance = memory(visible, history_scene_tokens=history, history_actions=history_actions) + + occluded_delta = (during_occlusion["belief_memory_tokens"] - no_history["belief_memory_tokens"]).norm() + reappeared_delta = (on_reappearance["belief_memory_tokens"] - during_occlusion["belief_memory_tokens"]).norm() + + assert occluded_delta > 1e-3 + assert reappeared_delta > 1e-3 diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_summarize_rvt_overlap_branch.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_summarize_rvt_overlap_branch.py new file mode 100644 index 0000000000000000000000000000000000000000..77a4ffcf0b30c06b084b28bc9cafddd1f476ab6d --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_summarize_rvt_overlap_branch.py @@ -0,0 +1,54 @@ +from __future__ import annotations + +from eval.summarize_rvt_overlap_branch import _branch_summary + + +def test_branch_summary_reports_floor_and_gate(tmp_path) -> None: + stage1 = tmp_path / "stage1.json" + anyb = tmp_path / "anyb.json" + stage1.write_text( + """ +{ + "checkpoint": "/tmp/stage1.pt", + "mean_success": 0.2, + "tasks": { + "bimanual_push_box": {"mean_success": 0.1, "mean_return": 0.1}, + "bimanual_lift_ball": {"mean_success": 0.2, "mean_return": 0.2}, + "bimanual_dual_push_buttons": {"mean_success": 0.3, "mean_return": 0.3} + } +} +""".strip(), + encoding="utf-8", + ) + anyb.write_text( + """ +{ + "local_last_complete_step": { + "step": 1000, + "mean_success": 0.16, + "per_task_success": { + "coordinated_push_box": 0.0, + "coordinated_lift_ball": 0.0, + "dual_push_buttons": 0.48 + } + }, + "public_best_overlap_step": { + "step": 60000, + "mean_success": 0.6933333333333334, + "per_task_success": { + "coordinated_push_box": 0.8, + "coordinated_lift_ball": 0.32, + "dual_push_buttons": 0.96 + } + } +} +""".strip(), + encoding="utf-8", + ) + + summary = _branch_summary(stage1, anyb, None) + + assert summary["stage1_frozen"]["mean_success"] == 0.2 + assert summary["stage2_unfreeze_top2"] is None + assert summary["gates"]["stage1_clears_local_floor"] is True + assert summary["gates"]["stage2_clears_local_floor"] is False diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_task_conditioned_head_shapes.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_task_conditioned_head_shapes.py new file mode 100644 index 0000000000000000000000000000000000000000..d369faafbfc0ed715812303e758c96690dd90142 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_task_conditioned_head_shapes.py @@ -0,0 +1,31 @@ +import torch + +from models.reveal_head import ElasticOcclusionStateHead + + +def test_task_conditioned_head_shapes(tiny_policy_config): + config = tiny_policy_config() + head = ElasticOcclusionStateHead(config.reveal_head) + scene_tokens = torch.rand(3, 12, config.backbone.hidden_dim) + memory_tokens = torch.rand( + 3, + config.memory.scene_bank_size + config.memory.belief_bank_size, + config.backbone.hidden_dim, + ) + output = head( + scene_tokens, + memory_tokens=memory_tokens, + task_names=["foliage", "bag", "cloth"], + ) + for key in ( + "opening_quality", + "actor_feasibility_score", + "gap_width", + "hold_quality", + "fold_preservation", + "lift_too_much_risk", + ): + assert key in output + assert output[key].shape == (3,) + assert output["opening_quality_field"].shape[1] == 1 + assert output["newly_revealed_field"].shape[1] == 1 diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_task_metric_monotonicity.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_task_metric_monotonicity.py new file mode 100644 index 0000000000000000000000000000000000000000..b0d44a21bffe74cc8ae6951364aeffe0ce067ce7 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_task_metric_monotonicity.py @@ -0,0 +1,34 @@ +import torch + +from models.reveal_head import compute_task_metrics_from_fields + + +def _metrics(access_level: float, disturbance_level: float) -> dict[str, torch.Tensor]: + access_field = torch.full((1, 3, 4, 4), access_level) + persistence_field = torch.full((1, 1, 4, 4), 0.6) + disturbance_field = torch.full((1, 1, 4, 4), disturbance_level) + reocclusion_field = torch.full((1, 1, 4, 4), 0.1) + visibility_field = torch.full((1, 1, 4, 4), 0.6) + clearance_field = torch.full((1, 2, 4, 4), access_level) + support_stability_field = torch.full((1, 1, 4, 4), 0.7) + uncertainty_field = torch.full((1, 1, 4, 4), 0.2) + return compute_task_metrics_from_fields( + access_field=access_field, + persistence_field=persistence_field, + disturbance_field=disturbance_field, + reocclusion_field=reocclusion_field, + visibility_field=visibility_field, + clearance_field=clearance_field, + support_stability_field=support_stability_field, + uncertainty_field=uncertainty_field, + ) + + +def test_task_metric_monotonicity(): + low_open = _metrics(access_level=0.1, disturbance_level=0.2) + high_open = _metrics(access_level=0.9, disturbance_level=0.2) + over_lift = _metrics(access_level=0.9, disturbance_level=0.8) + + assert high_open["mouth_aperture"] > low_open["mouth_aperture"] + assert high_open["actor_feasibility_score"] > low_open["actor_feasibility_score"] + assert over_lift["fold_preservation"] < high_open["fold_preservation"] diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_task_routed_model_eval.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_task_routed_model_eval.py new file mode 100644 index 0000000000000000000000000000000000000000..c59f33be75393919540710e1dafc261a690ab274 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_task_routed_model_eval.py @@ -0,0 +1,118 @@ +from __future__ import annotations + +from pathlib import Path + +import pytest +import torch + +import eval.run_reveal_benchmark as benchmark + + +def _record(spec: dict[str, object], success: float) -> dict[str, object]: + return { + "proxy_name": str(spec["proxy_name"]), + "task_name": str(spec["task_name"]), + "task_id": int(spec["task_id"]), + "stress_slice": str(spec.get("stress_slice", "nominal")), + "difficulty_bin": str(spec.get("difficulty_bin", "medium")), + "seed": int(spec["seed"]), + "episode_index": int(spec.get("episode_index", 0)), + "controller": "model", + "resolved_task_name": str(spec["task_name"]), + "success": float(success), + "visibility_integral": 1.0, + "corridor_availability": 1.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.1, + "premature_retrieve_rate": 0.0, + "reocclusion_after_reveal": 0.0, + "planner_regret": 0.0, + "step_trace": [], + "chosen_candidate_families": [], + "episode_metadata": {}, + } + + +def test_parse_task_routed_models_rejects_duplicates() -> None: + with pytest.raises(ValueError, match="Duplicate routed model key"): + benchmark._parse_task_routed_models(["bag=/tmp/a.pt", "bag=/tmp/b.pt"]) + + +def test_resolve_task_routed_key_precedence() -> None: + routes = { + "bag": "/tmp/task.pt", + "bag_proxy": "/tmp/proxy.pt", + "3": "/tmp/id.pt", + "default": "/tmp/default.pt", + } + assert benchmark._resolve_task_routed_key({"task_name": "bag", "proxy_name": "bag_proxy", "task_id": 3}, routes) == "bag" + assert benchmark._resolve_task_routed_key({"task_name": "other", "proxy_name": "bag_proxy", "task_id": 3}, routes) == "bag_proxy" + assert benchmark._resolve_task_routed_key({"task_name": "other", "proxy_name": "other_proxy", "task_id": 3}, routes) == "3" + assert benchmark._resolve_task_routed_key({"task_name": "other", "proxy_name": "other_proxy", "task_id": 8}, routes) == "default" + + +def test_evaluate_task_routed_models_combines_records(monkeypatch: pytest.MonkeyPatch) -> None: + loaded_paths: list[str] = [] + eval_calls: list[tuple[int, tuple[str, ...]]] = [] + + def fake_load_model(checkpoint_path: str | Path, device: torch.device): + loaded_paths.append(str(checkpoint_path)) + checkpoint_name = Path(str(checkpoint_path)).name + if checkpoint_name == "shared.pt": + resolution = 104 + elif checkpoint_name == "iter6.pt": + resolution = 96 + else: + resolution = 112 + return object(), {"data_resolution": resolution, "_shape_mismatch_keys": []} + + def fake_evaluate_model( + model, + device, + proxies, + episodes, + resolution, + ablation=None, + chunk_commit_steps=None, + episode_specs=None, + controller="model", + controller_options=None, + ): + del model, device, proxies, episodes, ablation, chunk_commit_steps, controller, controller_options + assert episode_specs is not None + eval_calls.append((resolution, tuple(str(spec["task_name"]) for spec in episode_specs))) + records = [] + for spec in episode_specs: + success = 0.9 if str(spec["task_name"]) == "foliage" else 0.5 + records.append(_record(spec, success)) + return None, records + + monkeypatch.setattr(benchmark, "load_model", fake_load_model) + monkeypatch.setattr(benchmark, "evaluate_model", fake_evaluate_model) + + specs = [ + {"proxy_name": "foliage_proxy", "task_name": "foliage", "task_id": 0, "seed": 1}, + {"proxy_name": "bag_proxy", "task_name": "bag", "task_id": 1, "seed": 2}, + {"proxy_name": "cloth_proxy", "task_name": "cloth", "task_id": 2, "seed": 3}, + ] + metrics, records, route_details = benchmark.evaluate_task_routed_models( + routed_models={ + "foliage": "/tmp/iter6.pt", + "bag": "/tmp/shared.pt", + "cloth": "/tmp/shared.pt", + }, + device=torch.device("cpu"), + proxies=["foliage_proxy", "bag_proxy", "cloth_proxy"], + episodes=None, + resolution=None, + episode_specs=specs, + ) + + assert sorted(loaded_paths) == ["/tmp/iter6.pt", "/tmp/shared.pt"] + assert sorted(eval_calls) == [(96, ("foliage",)), (104, ("bag", "cloth"))] + assert metrics.per_task_success == {"bag": 0.5, "cloth": 0.5, "foliage": 0.9} + assert pytest.approx(metrics.mean_success, rel=1e-6) == (0.5 + 0.5 + 0.9) / 3.0 + assert sorted(record["model_route_key"] for record in records) == ["bag", "cloth", "foliage"] + assert route_details["bag"]["episodes"] == 1 + assert route_details["cloth"]["episodes"] == 1 + assert route_details["foliage"]["resolution"] == 96 diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_teacher_audit.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_teacher_audit.py new file mode 100644 index 0000000000000000000000000000000000000000..41989dd4d9a78c700fe12ebf975ee1aecd1fb759 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_teacher_audit.py @@ -0,0 +1,25 @@ +import numpy as np + +from sim_reveal.procedural_envs import available_proxy_names, make_proxy_env + + +def _mean_utility(proxy_name: str, baseline_name: str, seeds: range) -> float: + utilities = [] + for seed in seeds: + env = make_proxy_env(proxy_name=proxy_name, resolution=32, seed=seed, rollout_horizon=4) + _, _ = env.reset(seed=seed) + chunk = env.baseline_action_chunk(baseline_name, chunk_horizon=4) + outcome = env.evaluate_action_chunk(chunk, rollout_horizon=4) + utility = float(outcome["retrieval_success"]) - float(outcome["final_disturbance_cost"]) - float(outcome["reocclusion_rate"]) + utilities.append(utility) + return float(np.mean(utilities)) + + +def test_teacher_audit(): + seeds = range(5) + for proxy_name in available_proxy_names(): + teacher_utility = _mean_utility(proxy_name, "teacher", seeds) + assert teacher_utility >= _mean_utility(proxy_name, "random", seeds) + assert teacher_utility >= _mean_utility(proxy_name, "retrieve_only", seeds) + assert teacher_utility >= _mean_utility(proxy_name, "reveal_only", seeds) + assert teacher_utility >= _mean_utility(proxy_name, "no_hold", seeds) diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_text_routing_only_used_as_fallback.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_text_routing_only_used_as_fallback.py new file mode 100644 index 0000000000000000000000000000000000000000..fd1a880f851901978a3d1c31097e687abf7a478d --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_text_routing_only_used_as_fallback.py @@ -0,0 +1,52 @@ +from train.trainer import build_policy + + +def test_text_routing_only_used_as_fallback(tiny_policy_config, tiny_trainer_config, tiny_batch): + config = tiny_policy_config() + batch = tiny_batch(chunk_size=config.decoder.chunk_size) + batch["texts"] = ["foliage canopy leaves snail"] * batch["images"].shape[0] + policy = build_policy(config, tiny_trainer_config(policy_type="elastic_reveal")) + policy.eval() + + fallback_output = policy( + images=batch["images"], + depths=batch["depths"], + depth_valid=batch["depth_valid"], + camera_intrinsics=batch["camera_intrinsics"], + camera_extrinsics=batch["camera_extrinsics"], + proprio=batch["proprio"], + texts=batch["texts"], + history_images=batch["history_images"], + history_depths=batch["history_depths"], + history_depth_valid=batch["history_depth_valid"], + history_camera_intrinsics=batch["history_camera_intrinsics"], + history_camera_extrinsics=batch["history_camera_extrinsics"], + history_camera_valid_mask=batch["history_camera_valid_mask"], + history_proprio=batch["history_proprio"], + history_actions=batch["history_actions"], + plan=False, + ) + metadata_output = policy( + images=batch["images"], + depths=batch["depths"], + depth_valid=batch["depth_valid"], + camera_intrinsics=batch["camera_intrinsics"], + camera_extrinsics=batch["camera_extrinsics"], + proprio=batch["proprio"], + texts=batch["texts"], + task_names=["bag"] * batch["images"].shape[0], + task_ids=batch["task_id"], + history_images=batch["history_images"], + history_depths=batch["history_depths"], + history_depth_valid=batch["history_depth_valid"], + history_camera_intrinsics=batch["history_camera_intrinsics"], + history_camera_extrinsics=batch["history_camera_extrinsics"], + history_camera_valid_mask=batch["history_camera_valid_mask"], + history_proprio=batch["history_proprio"], + history_actions=batch["history_actions"], + plan=False, + ) + + assert fallback_output["task_names"] == ["foliage"] * batch["images"].shape[0] + assert metadata_output["task_names"] == ["bag"] * batch["images"].shape[0] + assert fallback_output["proposal_mode_names"][0] != metadata_output["proposal_mode_names"][0] diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_field_consistency.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_field_consistency.py new file mode 100644 index 0000000000000000000000000000000000000000..17df50d5aa0c2bc5f3d88de9a6e920140064f281 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_field_consistency.py @@ -0,0 +1,16 @@ +import torch + +from models.world_model import ElasticOcclusionWorldModel + + +def test_world_model_field_consistency(tiny_policy_config, tiny_state): + config = tiny_policy_config() + config.world_model.rollout_mode = "null_rollout" + model = ElasticOcclusionWorldModel(config.world_model) + state = tiny_state(field_size=config.reveal_head.field_size) + scene_tokens = torch.rand(2, 12, config.backbone.hidden_dim) + action_chunk = torch.rand(2, config.decoder.chunk_size, 14) + output = model(scene_tokens=scene_tokens, interaction_state=state, action_chunk=action_chunk) + target = state["clearance_field"].unsqueeze(1).expand(-1, config.decoder.chunk_size, -1, -1, -1) + mae = (output["clearance_field"] - target).abs().mean() + assert float(mae) < 1e-6 diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_identity_rollout.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_identity_rollout.py new file mode 100644 index 0000000000000000000000000000000000000000..f9e497ce3f5e2c6b67f271bebe97a1f245cc263e --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_identity_rollout.py @@ -0,0 +1,17 @@ +import torch + +from models.world_model import ElasticOcclusionWorldModel + + +def test_world_model_identity_rollout(tiny_policy_config, tiny_state): + config = tiny_policy_config() + config.world_model.rollout_mode = "identity_rollout" + model = ElasticOcclusionWorldModel(config.world_model) + state = tiny_state(field_size=config.reveal_head.field_size) + scene_tokens = torch.rand(2, 12, config.backbone.hidden_dim) + action_chunk = torch.rand(2, config.decoder.chunk_size, 14) + output = model(scene_tokens=scene_tokens, interaction_state=state, action_chunk=action_chunk) + expected_roles = state["arm_role_logits"].unsqueeze(1).expand(-1, config.decoder.chunk_size, -1, -1) + assert torch.allclose(output["arm_role_logits"], expected_roles) + expected_visibility = state["visibility_field"].unsqueeze(1).expand(-1, config.decoder.chunk_size, -1, -1, -1) + assert torch.allclose(output["visibility_field"], expected_visibility) diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_null_rollout.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_null_rollout.py new file mode 100644 index 0000000000000000000000000000000000000000..1f77c80f94080d9e504d6fc6f2a865469541ab10 --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_null_rollout.py @@ -0,0 +1,17 @@ +import torch + +from models.world_model import ElasticOcclusionWorldModel + + +def test_world_model_null_rollout(tiny_policy_config, tiny_state): + config = tiny_policy_config() + config.world_model.rollout_mode = "null_rollout" + model = ElasticOcclusionWorldModel(config.world_model) + state = tiny_state(field_size=config.reveal_head.field_size) + scene_tokens = torch.rand(2, 12, config.backbone.hidden_dim) + action_chunk = torch.rand(2, config.decoder.chunk_size, 14) + output = model(scene_tokens=scene_tokens, interaction_state=state, action_chunk=action_chunk) + expected = state["target_belief_field"].unsqueeze(1).expand(-1, config.decoder.chunk_size, -1, -1, -1) + assert torch.allclose(output["target_belief_field"], expected) + expected_support = state["support_mode_logits"].unsqueeze(1).expand(-1, config.decoder.chunk_size, -1) + assert torch.allclose(output["support_mode_logits"], expected_support) diff --git a/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_task_adapter.py b/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_task_adapter.py new file mode 100644 index 0000000000000000000000000000000000000000..d7a1014ec63d46b36e6553fd303aa494349222ce --- /dev/null +++ b/code/VLAarchtests2_code/VLAarchtests/tests/test_world_model_task_adapter.py @@ -0,0 +1,32 @@ +import torch + +from models.world_model import ElasticOcclusionWorldModel + + +def test_world_model_task_adapter(tiny_policy_config, tiny_state): + config = tiny_policy_config() + config.world_model.rollout_mode = "spatial_rollout" + model = ElasticOcclusionWorldModel(config.world_model) + state = tiny_state(field_size=config.reveal_head.field_size) + state["scene_memory_tokens"] = torch.rand(1, config.memory.scene_bank_size, config.backbone.hidden_dim) + state["belief_memory_tokens"] = torch.rand(1, config.memory.belief_bank_size, config.backbone.hidden_dim) + state = {key: value[:1] for key, value in state.items()} + scene_tokens = torch.rand(1, 12, config.backbone.hidden_dim) + action_chunk = torch.zeros(1, config.decoder.chunk_size, 14) + foliage = model( + scene_tokens=scene_tokens, + interaction_state=state, + action_chunk=action_chunk, + scene_memory_tokens=state["scene_memory_tokens"], + belief_memory_tokens=state["belief_memory_tokens"], + task_names=["foliage"], + ) + bag = model( + scene_tokens=scene_tokens, + interaction_state=state, + action_chunk=action_chunk, + scene_memory_tokens=state["scene_memory_tokens"], + belief_memory_tokens=state["belief_memory_tokens"], + task_names=["bag"], + ) + assert not torch.allclose(foliage["support_mode_logits"], bag["support_mode_logits"]) diff --git a/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1.log b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1.log new file mode 100644 index 0000000000000000000000000000000000000000..a11ca2613e854c3c1c2df8a7c8eedae3fe99d275 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1.log @@ -0,0 +1,1241 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 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, + 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"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/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.md b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fd853d4d12655c5fb640364ae08d69fab8ce7587 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_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, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..7f54e852c504e69170e27a7163c9bb061cba7d76 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 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, + 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"support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 25, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.md b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fd853d4d12655c5fb640364ae08d69fab8ce7587 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_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, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..6fd5988c07d737f6cc76dde29fb4f7f9b63ea31e --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 0.5, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 25, + 25, + 25, + 25, + 25 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 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": 1, + "noop_fallbacks": 0 + }, + { + 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+/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +Traceback (most recent call last): + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 196, in _run_module_as_main + return _run_code(code, main_globals, None, + File "/workspace/envs/rlbench/lib/python3.10/runpy.py", line 86, in _run_code + exec(code, run_globals) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_knn_eval.py", line 361, in + main() + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_knn_eval.py", line 220, in main + bank = _encode_bank( + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/eval/run_rlbench_knn_eval.py", line 63, in _encode_bank + scene_tokens = model.encode_scene( + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/models/policy.py", line 113, in encode_scene + return self.fusion(image_tokens=image_tokens, proprio=proprio, language_tokens=text_tokens) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1779, in _wrapped_call_impl + return self._call_impl(*args, **kwargs) + File "/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1790, in _call_impl + return forward_call(*args, **kwargs) + File "/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py", line 90, in forward + batch_size, num_views, num_tokens, hidden_dim = image_tokens.shape +AttributeError: 'dict' object has no attribute 'shape' diff --git a/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/sweep_summary.json b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/sweep_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..b47c8d51fe81687836ddbeb6eeeff28dc0f559df --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_anchor_sweeps_20260330/sweep_summary.json @@ -0,0 +1,24 @@ +{ + "direct_planning_c1_s1": { + "returncode": 0, + "log": "/workspace/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s1.log", + "mean_success": 0.0, + "mean_return": 0.0 + }, + "direct_ik_c1_s1": { + "returncode": 0, + "log": "/workspace/reports/dual_push_anchor_sweeps_20260330/direct_ik_c1_s1.log", + "mean_success": 0.0, + "mean_return": 0.0 + }, + "direct_planning_c1_s05": { + "returncode": 0, + "log": "/workspace/reports/dual_push_anchor_sweeps_20260330/direct_planning_c1_s05.log", + "mean_success": 0.0, + "mean_return": 0.0 + }, + "knn_top1_planning": { + "returncode": 1, + "log": "/workspace/reports/dual_push_anchor_sweeps_20260330/knn_top1_planning.log" + } +} diff --git a/code/VLAarchtests2_code/reports/dual_push_finetune_20260330/train.log b/code/VLAarchtests2_code/reports/dual_push_finetune_20260330/train.log new file mode 100644 index 0000000000000000000000000000000000000000..4e0324fd1b2597e4362c5e68cde2a528aa90b8ef --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_finetune_20260330/train.log @@ -0,0 +1,1603 @@ +{"phase": "datasets_ready", "train_samples": 9426, "val_samples": 1037} +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +{"phase": "training_start", "epochs": 8} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 0, "train_total": 0.06203938125182827, "val_total": 0.05916558677387057, "best_val_total": 0.05916558677387057, "best_checkpoint_updated": true, "epoch_seconds": 50.909680128097534} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 1, "train_total": 0.057649073335026405, "val_total": 0.06655417485021506, "best_val_total": 0.05916558677387057, "best_checkpoint_updated": false, "epoch_seconds": 48.0729398727417} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 2, "train_total": 0.0601920383599571, "val_total": 0.04444769710288242, "best_val_total": 0.04444769710288242, "best_checkpoint_updated": true, "epoch_seconds": 49.90223431587219} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 3, "train_total": 0.057148987053640944, "val_total": 0.04241485108628474, "best_val_total": 0.04241485108628474, "best_checkpoint_updated": true, "epoch_seconds": 47.9948456287384} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 4, "train_total": 0.17593702989930318, "val_total": 0.05745924560522491, "best_val_total": 0.04241485108628474, "best_checkpoint_updated": false, "epoch_seconds": 49.98115372657776} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 5, "train_total": 0.05167785599093758, "val_total": 0.03427611653707131, "best_val_total": 0.03427611653707131, "best_checkpoint_updated": true, "epoch_seconds": 56.693320512771606} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 6, "train_total": 0.05215835783539845, "val_total": 0.04725971340314683, "best_val_total": 0.03427611653707131, "best_checkpoint_updated": false, "epoch_seconds": 69.78188872337341} +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +{"phase": "epoch_complete", "epoch": 7, "train_total": 0.05064632325014889, "val_total": 0.05022781986079997, "best_val_total": 0.03427611653707131, "best_checkpoint_updated": false, "epoch_seconds": 49.291959285736084} +{ + "experiment_name": "rlbench_dual_push_backbone_only_clip_finetune_seed17", + "device": "cuda", + "best_checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "final_train_total": 0.05064632325014889, + "final_val_total": 0.05022781986079997, + "train_dataset": { + "dataset_root": "/workspace/data/rlbench2_subset3", + "tasks": [ + "bimanual_dual_push_buttons" + ], + "episode_indices": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "num_episodes": 90, + "num_samples": 9426, + "resolution": 256, + "chunk_size": 8, + "proprio_dim": 32, + "history_steps": 2, + "supervise_action_steps": 1 + }, + "val_dataset": { + "dataset_root": "/workspace/data/rlbench2_subset3", + "tasks": [ + "bimanual_dual_push_buttons" + ], + "episode_indices": [ + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99 + ], + "num_episodes": 10, + "num_samples": 1037, + "resolution": 256, + "chunk_size": 8, + "proprio_dim": 32, + "history_steps": 2, + "supervise_action_steps": 1 + }, + "init_info": { + "path": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "loaded_keys": 658, + "skipped_shape_mismatch_keys": [], + "missing_keys": [], + "unexpected_keys": [] + }, + "planner_mode": "trainable", + "plan_enabled_for_train": false, + "plan_enabled_for_eval": false, + "frozen_modules": [], + "trainable_parameter_prefixes": [], + "trainable_parameter_names": [], + "train_seconds": 425.96609020233154 +} diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..1f08d1277117558dbe691aec789d560f0e3bdef1 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": 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"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/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.md b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..1140aaacb7e5af30d9fc66df7f6eb5bf605acaee --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_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, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1f08d1277117558dbe691aec789d560f0e3bdef1 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/ik_c1/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": 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"path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 25, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.md b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..1140aaacb7e5af30d9fc66df7f6eb5bf605acaee --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_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, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..26f0d2a13e29270aba17e8bcb8bb74f56c93ecc1 --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c1_s05/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 0.5, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 25, + 25, + 25, + 25, + 25 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + 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"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/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.md b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..1140aaacb7e5af30d9fc66df7f6eb5bf605acaee --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_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, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1ea30a203aab7f481b2deeb9b98f7439203ae91f --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/controller_sweep/planning_c4/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": 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"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/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.md b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..1140aaacb7e5af30d9fc66df7f6eb5bf605acaee --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_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, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1ea30a203aab7f481b2deeb9b98f7439203ae91f --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_nonzero_branch_20260330/smoke_planning/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 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": "DualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 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, + 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"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/code/VLAarchtests2_code/reports/dual_push_weighted_20260330/train.log b/code/VLAarchtests2_code/reports/dual_push_weighted_20260330/train.log new file mode 100644 index 0000000000000000000000000000000000000000..96b3434c41893bd14e01924d9a2859f6c193b16c --- /dev/null +++ b/code/VLAarchtests2_code/reports/dual_push_weighted_20260330/train.log @@ -0,0 +1,165 @@ +{"phase": "datasets_ready", "train_samples": 9426, "val_samples": 1037} +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +{"phase": "training_start", "epochs": 6} +{"phase": "epoch_complete", "epoch": 0, "train_total": 0.0877545513970367, "val_total": 0.4114937034971786, "best_val_total": 0.4114937034971786, "best_checkpoint_updated": true, "epoch_seconds": 53.69454264640808} +{"phase": "epoch_complete", "epoch": 1, "train_total": 0.019112524996369572, "val_total": 0.1929756443608891, "best_val_total": 0.1929756443608891, "best_checkpoint_updated": true, "epoch_seconds": 48.348793029785156} +{"phase": "epoch_complete", "epoch": 2, "train_total": 0.010492481415996612, "val_total": 0.41170877167447045, "best_val_total": 0.1929756443608891, "best_checkpoint_updated": false, "epoch_seconds": 52.146968126297} +{"phase": "epoch_complete", "epoch": 3, "train_total": 0.007724968756754267, "val_total": 0.58659982957849, "best_val_total": 0.1929756443608891, "best_checkpoint_updated": false, "epoch_seconds": 52.12964940071106} +{"phase": "epoch_complete", "epoch": 4, "train_total": 0.007652744957466878, "val_total": 0.38267870660814823, "best_val_total": 0.1929756443608891, "best_checkpoint_updated": false, "epoch_seconds": 48.36760592460632} +{"phase": "epoch_complete", "epoch": 5, "train_total": 0.005680736413983218, "val_total": 0.41498134860938246, "best_val_total": 0.1929756443608891, "best_checkpoint_updated": false, "epoch_seconds": 69.71976494789124} +{ + "experiment_name": "rlbench_dual_push_backbone_only_clip_finetune_weighted_seed17", + "device": "cuda", + "best_checkpoint": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_weighted_seed17/checkpoint_best.pt", + "final_train_total": 0.005680736413983218, + "final_val_total": 0.41498134860938246, + "train_dataset": { + "dataset_root": "/workspace/data/rlbench2_subset3", + "tasks": [ + "bimanual_dual_push_buttons" + ], + "episode_indices": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79, + 80, + 81, + 82, + 83, + 84, + 85, + 86, + 87, + 88, + 89 + ], + "num_episodes": 90, + "num_samples": 9426, + "resolution": 256, + "chunk_size": 8, + "proprio_dim": 32, + "history_steps": 2, + "supervise_action_steps": 1, + "action_norm_mean": 0.09223783761262894, + "action_norm_p90": 0.048376915976405144 + }, + "val_dataset": { + "dataset_root": "/workspace/data/rlbench2_subset3", + "tasks": [ + "bimanual_dual_push_buttons" + ], + "episode_indices": [ + 90, + 91, + 92, + 93, + 94, + 95, + 96, + 97, + 98, + 99 + ], + "num_episodes": 10, + "num_samples": 1037, + "resolution": 256, + "chunk_size": 8, + "proprio_dim": 32, + "history_steps": 2, + "supervise_action_steps": 1, + "action_norm_mean": 0.09317709505558014, + "action_norm_p90": 0.04960222616791725 + }, + "init_info": { + "path": "/workspace/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/checkpoint_best.pt", + "loaded_keys": 658, + "skipped_shape_mismatch_keys": [], + "missing_keys": [], + "unexpected_keys": [] + }, + "planner_mode": "trainable", + "plan_enabled_for_train": false, + "plan_enabled_for_eval": false, + "frozen_modules": [], + "trainable_parameter_prefixes": [], + "trainable_parameter_names": [], + "train_seconds": 326.1352128982544 +} diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..11e88d3d713c0953962116215ac3253150afe5b7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.05 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..e95aff498b8d480a3ba9598888b146a6e758b723 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6568ca27962f2fb30e2e5b66e6e3acf4f705c233 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..e95aff498b8d480a3ba9598888b146a6e758b723 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..2b9b592cb48740610148d9aaa75aeea310bec2a0 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..ffceaf9dde57b1dfd93b815a8ac6945ad10a7e6f --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.05 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c5d35a46ca7c5bcea4f92108086977137c15d2 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..64ae08894887373a736d55ba999caeda0e32e2b6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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_lift_ball`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c5d35a46ca7c5bcea4f92108086977137c15d2 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..ddc1748b3794bea34328b67f0084fa327a5389c3 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..420e5c8ce27f6e69ec39668fd92ebfeb838bafd9 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.05 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..b540b9391eea1254e34f43358fecf5356bc50cc7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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_push_box`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..b540b9391eea1254e34f43358fecf5356bc50cc7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.05, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + 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"planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + 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mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..ac6f2fd855f83c65984693256855de16abbb9b8f --- /dev/null +++ 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"chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..947d74455062d6b630bf912f7f9499bd6054fc71 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Arm mode: `ik` +- Delta scale: `0.05` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/sweep_stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/sweep_stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/sweep_stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/sweep_stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..23dbc0e2ef2e2f7416de4632a1c5d3d3a0b14606 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/sweep_stdout.txt @@ -0,0 +1,8 @@ +[peract2-sweep] running task=bimanual_push_box plan=False +[peract2-sweep] running task=bimanual_lift_ball plan=False +[peract2-sweep] running task=bimanual_dual_push_buttons plan=False +{ + "generated": [ + "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split/rollout_eval.json" + ] +} diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..c100a9c0dad5848e6b9013194777c141979b611f --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.1 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..a59dffbd2a71ced799814c50c4ce4d60979d81f6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6568ca27962f2fb30e2e5b66e6e3acf4f705c233 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..a59dffbd2a71ced799814c50c4ce4d60979d81f6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..e208745c35bdd6405261c830022da9b072adadfc --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.1 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..87214e6ac24bd80a652fca0946ae1f500e80e00f --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..64ae08894887373a736d55ba999caeda0e32e2b6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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_lift_ball`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..ba13dd7bdbad8f714ed0c795527ce336416e3846 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 0.1, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..62b1bf0a927c54dac2e853394d9f154ec55bd304 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 0.1 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f7babccb0bc2d3089bf4b41c2a3d6bc69dedfb17 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.json @@ -0,0 +1,661 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "arm_mode": "ik", + "delta_scale": 0.1, + "reset_retries": 20, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d759159621c0ff39f31573d7d90ffd940d6749c6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Arm mode: `ik` +- Delta scale: `0.1` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/sweep_stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/sweep_stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/sweep_stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/sweep_stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e8339ef8a4800cf78d99c08fb4b317607ef8fb74 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/sweep_stdout.txt @@ -0,0 +1,8 @@ +[peract2-sweep] running task=bimanual_push_box plan=False +[peract2-sweep] running task=bimanual_lift_ball plan=False +[peract2-sweep] running task=bimanual_dual_push_buttons plan=False +{ + "generated": [ + "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split/rollout_eval.json" + ] +} diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..c6b1f38d300cc6351782cc238708ee8f1edd8f94 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..c0a1662d6e810e9dbbd50727f94ba1cd3186e36c --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "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": [ + 20 + ], + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6568ca27962f2fb30e2e5b66e6e3acf4f705c233 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..c0a1662d6e810e9dbbd50727f94ba1cd3186e36c --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "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": [ + 20 + ], + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..eb1fc0f61095e2f22c58e65e7d1bcb09b6bd7d07 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "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": [ + 20 + ], + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..9483543ef96b3309da482f850bb7ec6bb7d06c72 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..0f650eec8bd723fd1fc331428c9cb5531b4f09e5 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 17 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 17, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..64ae08894887373a736d55ba999caeda0e32e2b6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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_lift_ball`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..0f650eec8bd723fd1fc331428c9cb5531b4f09e5 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 17 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 17, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..07cfafe5eb9aee3d3bdae781c88ea62254d1dab1 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 17 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 17, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..1da71e6dabea7435ef32cd97b9e073a23bacc4e6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..8b17042889f70c98cacaa04515b3545a2e3b4474 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 19 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 19, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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_push_box`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..8b17042889f70c98cacaa04515b3545a2e3b4474 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 19 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 19, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..c7442449f06d289a2e533d32f79dfdec81654498 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 19 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 19, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..dbd3acc22797b76e99b696ef8633f61f914a1c79 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.json @@ -0,0 +1,661 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "arm_mode": "ik", + "delta_scale": 1.0, + "reset_retries": 20, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 19 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 19, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 17 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 17, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_lift_ball/rollout_eval.json" + }, + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 20 + ], + "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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 20, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..02f3be1ea4d1dc9f138aff49208fa9fc5eca110f --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Arm mode: `ik` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[19], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[17], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[20], noop_fallbacks=[0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/sweep_stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/sweep_stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/sweep_stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/sweep_stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..97948ad9037385f99b3346703689f24df4018b5b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/sweep_stdout.txt @@ -0,0 +1,8 @@ +[peract2-sweep] running task=bimanual_push_box plan=False +[peract2-sweep] running task=bimanual_lift_ball plan=False +[peract2-sweep] running task=bimanual_dual_push_buttons plan=False +{ + "generated": [ + "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split/rollout_eval.json" + ] +} diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..d5a20166a409af83c91cf9ce83cc5008353aeb73 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..08d0c5718a47490f27d56a68fa01d65a05199f9c --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "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 + } + ], + "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/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6568ca27962f2fb30e2e5b66e6e3acf4f705c233 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..08d0c5718a47490f27d56a68fa01d65a05199f9c --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "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 + } + ], + "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/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e9cda900f08bed8947e9ed65e199ebd7b630137 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_dual_push_buttons: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "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 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..6a1ef8213301b240ab21188623c131451d627e04 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f84263f45e5a3e36b733f1b222aba7c6ccfa0b0f --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "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 + } + ], + "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/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..64ae08894887373a736d55ba999caeda0e32e2b6 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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_lift_ball`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..f84263f45e5a3e36b733f1b222aba7c6ccfa0b0f --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "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 + } + ], + "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/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..f577c9f1913903d6f85480d6549ef98eb137bb1e --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_lift_ball: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "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 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..e6fc85d95b900e2daeb9d613f29037ad0bebb7db --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt --output-dir /workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..92e3982e29a89ea44a071eeec23e1fa8dea29b4b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "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 + } + ], + "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/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..30fcf8b8244e8ef89559d66f810352d919c1e766 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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_push_box`: mean_success=0.000, returns=[0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..92e3982e29a89ea44a071eeec23e1fa8dea29b4b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,235 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "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 + } + ], + "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/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..ff14cc7068bb42aafc60976c734a12ba01d4e973 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,237 @@ +[task] bimanual_push_box: mean_success=0.000 mean_return=0.000 +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/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": 20, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "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 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..122f7a5a3bd682569b6b95165dbbd651f5c2c808 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.json @@ -0,0 +1,661 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "arm_mode": "planning", + "delta_scale": 1.0, + "reset_retries": 20, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "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 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_push_box/rollout_eval.json" + }, + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "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 + }, + { + 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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 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_lift_ball/rollout_eval.json" + }, + "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 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d6e84e8d561498cfce541e6539ec87fe15668aa7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_subset3_backbone_only_clip_current_common23/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Arm mode: `planning` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/sweep_stderr.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/sweep_stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/sweep_stdout.txt b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/sweep_stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc9b7187b089d48c2ff8ba519429fa5218b8fea5 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/sweep_stdout.txt @@ -0,0 +1,8 @@ +[peract2-sweep] running task=bimanual_push_box plan=False +[peract2-sweep] running task=bimanual_lift_ball plan=False +[peract2-sweep] running task=bimanual_dual_push_buttons plan=False +{ + "generated": [ + "/workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split/rollout_eval.json" + ] +} diff --git a/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/summary.json b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..4306efcc5fdf7576514a5c839a24aa688fc6d7bd --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_common23_exec_calib_iso/summary.json @@ -0,0 +1,87 @@ +[ + { + "config": { + "name": "plan_c4_s1", + "arm_mode": "planning", + "chunk_commit_steps": 4, + "delta_scale": 1.0 + }, + "returncode": 0, + "run_dir": "/workspace/reports/rlbench_common23_exec_calib_iso/plan_c4_s1_noplan_split", + "mean_success": 0.0, + "tasks": { + "bimanual_push_box": 0.0, + "bimanual_lift_ball": 0.0, + "bimanual_dual_push_buttons": 0.0 + }, + "error_tasks": [] + }, + { + "config": { + "name": "ik_c4_s1", + "arm_mode": "ik", + "chunk_commit_steps": 4, + "delta_scale": 1.0 + }, + "returncode": 0, + "run_dir": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c4_s1_noplan_split", + "mean_success": 0.0, + "tasks": { + "bimanual_push_box": 0.0, + "bimanual_lift_ball": 0.0, + "bimanual_dual_push_buttons": 0.0 + }, + "error_tasks": [] + }, + { + "config": { + "name": "ik_c1_s1", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 1.0 + }, + "returncode": 0, + "run_dir": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s1_noplan_split", + "mean_success": 0.0, + "tasks": { + "bimanual_push_box": 0.0, + "bimanual_lift_ball": 0.0, + "bimanual_dual_push_buttons": 0.0 + }, + "error_tasks": [] + }, + { + "config": { + "name": "ik_c1_s01", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 0.1 + }, + "returncode": 0, + "run_dir": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s01_noplan_split", + "mean_success": 0.0, + "tasks": { + "bimanual_push_box": 0.0, + "bimanual_lift_ball": 0.0, + "bimanual_dual_push_buttons": 0.0 + }, + "error_tasks": [] + }, + { + "config": { + "name": "ik_c1_s005", + "arm_mode": "ik", + "chunk_commit_steps": 1, + "delta_scale": 0.05 + }, + "returncode": 0, + "run_dir": "/workspace/reports/rlbench_common23_exec_calib_iso/ik_c1_s005_noplan_split", + "mean_success": 0.0, + "tasks": { + "bimanual_push_box": 0.0, + "bimanual_lift_ball": 0.0, + "bimanual_dual_push_buttons": 0.0 + }, + "error_tasks": [] + } +] \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..fc09ee59eca3d59d0a650bd75b78ca6c203d5712 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..369c7bdf04403777a3e670dab38ba53bd5475081 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 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, + 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"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/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fd853d4d12655c5fb640364ae08d69fab8ce7587 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_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, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..369c7bdf04403777a3e670dab38ba53bd5475081 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 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": 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a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..034dafeceb26b796f8e92fa91577ef493f28d4c2 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..616b08b6010154911d7ef28a941670d723bddb98 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + 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"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": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 24, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 2, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..76b596aa7f03533c631bc4b3b0baabf30c9db92c --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_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_lift_ball`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..616b08b6010154911d7ef28a941670d723bddb98 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 2, + 2, + 2, + 2, + 2 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": 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a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..f0874ea24739b736108489e468a84dad857d549b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 1 --arm-mode ik --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f93a64da9e9d1ab0b2ed4fca2344ca05378c14af --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + 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"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/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..f660ef66da0ac27692fd0cbd8dcb47af2f00829b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_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_push_box`: mean_success=0.000, returns=[0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..f93a64da9e9d1ab0b2ed4fca2344ca05378c14af --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,1236 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 5, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "ik", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0 + ], + "reset_retries": [ + 0, + 0, + 0, + 0, + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, 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b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 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"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, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..826e6296459ef8ffa7434f90bb48d33eda826f22 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/backbone_commit1_ik_ep5_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `5` +- Episode length: `25` +- Resolution: `256` +- No planner: `False` +- Arm mode: `ik` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[2, 2, 2, 2, 2], noop_fallbacks=[0, 0, 0, 0, 0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0] diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..087477469a07b38c80971668e0db98faedf6a378 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_fair_step1_final_knn_ep10_x99_res224_len180_train80/rollout_eval.json @@ -0,0 +1,80 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines_rerun/rlbench_subset3_backbone_only_clip_100demo_fair_step1_full_seed17/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_1b75eaf854661771.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 142, + "successes": [ + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 7, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + "Could not perform bimanual IK via Jacobian; target pose is likely too far from the current pose.", + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.3, + "mean_return": 0.3 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..8a71d62f5bd543fa58302d1c423b530a2f40ece2 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json @@ -0,0 +1,159 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_5a08892f2a4d1e1d.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.4, + "mean_return": 0.4 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..79e326b6fed1c78a0dcb047bdeb799aad4d60c15 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/stdout.txt @@ -0,0 +1,160 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "task": "bimanual_push_box", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_5a08892f2a4d1e1d.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.4, + "mean_return": 0.4 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..4e18b3ff4a58da8b3c9e967458a8af6d86567ef0 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.json @@ -0,0 +1,266 @@ +{ + "checkpoint": "/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "dataset_root": "/workspace/data/rlbench2_subset3", + "train_episodes": [ + 0, + 1, + 2, + 3, + 4, + 5, + 6, + 7, + 8, + 9, + 10, + 11, + 12, + 13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 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13, + 14, + 15, + 16, + 17, + 18, + 19, + 20, + 21, + 22, + 23, + 24, + 25, + 26, + 27, + 28, + 29, + 30, + 31, + 32, + 33, + 34, + 35, + 36, + 37, + 38, + 39, + 40, + 41, + 42, + 43, + 44, + 45, + 46, + 47, + 48, + 49, + 50, + 51, + 52, + 53, + 54, + 55, + 56, + 57, + 58, + 59, + 60, + 61, + 62, + 63, + 64, + 65, + 66, + 67, + 68, + 69, + 70, + 71, + 72, + 73, + 74, + 75, + 76, + 77, + 78, + 79 + ], + "episodes_per_task": 10, + "episode_length": 180, + "resolution": 224, + "arm_mode": "ik", + "delta_scale": 1.0, + "bank_stride": 1, + "bank_cache_path": "/workspace/reports/rlbench_general_debug/knn_bank_cache/bank_bimanual_push_box_5a08892f2a4d1e1d.pt", + "top_k": 1, + "time_window": 4, + "bank_size": 11259, + "successes": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "returns": [ + 0.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0, + 0.0, + 1.0, + 1.0, + 0.0 + ], + "path_recoveries": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "episode_errors": [ + null, + null, + null, + null, + null, + null, + null, + null, + null, + null + ], + "mean_success": 0.4, + "mean_return": 0.4, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/bimanual_push_box/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 1, + "error_tasks": [], + "mean_success": 0.4 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..4e73fde3f2c49b848434934edd7b1b75b27db3fb --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_push_box_historical_step1_knn_ep10_x99_res224_len180_train80_fixed/rollout_eval.md @@ -0,0 +1,23 @@ +# RLBench kNN Task Sweep + +- Checkpoint: `/workspace/VLAarchtests_hf_rlbench/artifacts/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt` +- Dataset root: `/workspace/data/rlbench2_subset3` +- Episodes per task: `10` +- Episode length: `180` +- Resolution: `224` +- Arm mode: `ik` +- Delta scale: `1.0` +- Top-k: `1` +- Time window: `4` +- Bank stride: `1` +- Bank batch size: `32` +- Bank workers: `8` +- Reset retries: `20` +- Train episodes: `[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79]` +- Task count: `1` +- Error tasks: `[]` +- Mean success: `0.400` + +## Per-task + +- `bimanual_push_box`: mean_success=0.400, mean_return=0.400, bank_size=11259, path_recoveries=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0], noop_fallbacks=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0], error=None, subprocess_returncode=0 diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..22949f922346730cd0aed6306cc17304d8121340 --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_knn_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_step1_seed17/checkpoint_epoch0_snapshot.pt --output-dir /workspace/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box --task bimanual_push_box --dataset-root /workspace/data/rlbench2_subset3 --episodes-per-task 5 --episode-length 25 --resolution 256 --device cuda --arm-mode ik --delta-scale 1.0 --bank-batch-size 32 --bank-stride 1 --bank-num-workers 8 --top-k 1 --time-window 4 --reset-retries 20 --train-episodes 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 --headless diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/stderr.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..ab78baf04a3480bf01477aacca6d947c8546aa7b --- /dev/null +++ b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/stderr.txt @@ -0,0 +1,8 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +qt.qpa.xcb: could not connect to display +qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "/workspace/assets/coppeliasim_v4_1_0" even though it was found. +This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem. + +Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, webgl, xcb. + diff --git a/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/rlbench_general_debug/rlbench_subset3_backbone_step1_snapshot_knn_top1_dense_ep5/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/code/VLAarchtests2_code/reports/rvt_overlap_branch_fixedbounds_20260330/gate_stage1.txt b/code/VLAarchtests2_code/reports/rvt_overlap_branch_fixedbounds_20260330/gate_stage1.txt new file mode 100644 index 0000000000000000000000000000000000000000..93762146caff9cef8a78c6fd0215062d39d2a4ca --- /dev/null +++ b/code/VLAarchtests2_code/reports/rvt_overlap_branch_fixedbounds_20260330/gate_stage1.txt @@ -0,0 +1,3 @@ +0.0 +0.16 +0 diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..dd055bc8ff11bf16ae38fa8d03c1813cddd840de --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,6016 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_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": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 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 + ], + "noop_fallbacks": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, 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a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/command.txt b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..5177e8687dc818d927b9215a738d331f49d7a1de --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless --plan diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..1d9b3ef8fc5493034578d65664ed5068e8cf0070 --- /dev/null +++ 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"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 + } + }, + "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.", + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..27109abb4cd925939fea69ab64e5168c4784f77d --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `True` +- 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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1d9b3ef8fc5493034578d65664ed5068e8cf0070 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,6017 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "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, + 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 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 + ], + "noop_fallbacks": [ + 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 + ], + "reset_retries": [ + 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 + ], + "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, + 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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 + } + }, + "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.", + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..f5fb6e34e83a3ae3b31194ed5489eb85ef2e850b --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless --plan diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..8af96dc9456554d88dccb6d4755a8ae87e14fe74 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,6017 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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+ ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.", + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.md b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..493e6c851bfd98cfb02303f75693127fa951df2e --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `True` +- 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_lift_ball`: mean_success=0.000, returns=[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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..8af96dc9456554d88dccb6d4755a8ae87e14fe74 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,6017 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "path_recoveries": [ + 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 + ], + "noop_fallbacks": [ + 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 + ], + "reset_retries": [ + 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 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": 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@@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/stdout.txt b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..1eec3fdc45649391dc88745c1c85c6dd3719a3ac --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,6019 @@ +[task] bimanual_lift_ball: 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"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 + } + }, + "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.", + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/command.txt b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..ee7878ca7fe4811679adfd357667b1e8e1674c74 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless --plan diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf75432257e42789afa77953a33c00f68aebec4 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,6017 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "returns": [ + 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, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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"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 + } + }, + "planning_note": "Planner requested for a backbone-only checkpoint; evaluating the backbone policy only.", + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..87a7784e89a242a4223428fb0cdbc4c99e02121f --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `True` +- 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_push_box`: mean_success=0.000, returns=[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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf75432257e42789afa77953a33c00f68aebec4 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,6017 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 25, + "episode_length": 25, + "resolution": 256, + "reset_retries": 20, + "arm_mode": "planning", + "delta_scale": 1.0, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, 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0000000000000000000000000000000000000000..5744c4d6a1b6cde225cc80e039aabb6caa570f26 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,3 @@ +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/multiview_fusion.py:65: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_backbone_only_clip_100demo_fair_seed17_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 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b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json 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a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..658b23eb2815ffb00447ffd4416f074a649bc733 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_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, 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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..a7a22c6279b19173f6edfb12bbb22ff462204513 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.partial.json @@ -0,0 +1,11641 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_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": 25, + "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, + 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, 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0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/command.txt b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..7e3b1c079ee933d96df387bb3085c206baa50443 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f11574c4f042be9caf76014320bacaa5fcb3612a --- /dev/null +++ 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b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..10e089450179649758d6babd00c9881af3614bc7 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_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_lift_ball`: mean_success=0.000, returns=[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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..f11574c4f042be9caf76014320bacaa5fcb3612a --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_lift_ball/rollout_eval.partial.json @@ -0,0 +1,11641 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, 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b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..72d2d9db36daa532230eab4eb427ce87762cdd08 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt --output-dir /workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 25 --episode-length 25 --resolution 256 --device cuda --chunk-commit-steps 4 --arm-mode planning --delta-scale 1.0 --reset-retries 20 --headless diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f5cab7f5c37606cedcb557ea7a6181ebe880a549 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,11641 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + 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a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.md b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..90f57acad7d5ce40aedae74ee1e9e412cc623829 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_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_push_box`: mean_success=0.000, returns=[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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..f5cab7f5c37606cedcb557ea7a6181ebe880a549 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/rollout_eval.partial.json @@ -0,0 +1,11641 @@ +{ + "checkpoint": 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enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.cross_view_transformer = nn.TransformerEncoder( +/workspace/VLAarchtests/code/reveal_vla_bimanual/models/observation_memory.py:211: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + self.sequence_encoder = nn.TransformerEncoder(encoder_layer, num_layers=1) +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/stdout.txt b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..8a795c8318ccb9c72467286787911dc005232849 --- /dev/null +++ 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"noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 3, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/rollout_eval.md b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..c68cbba72a10bbca8bb9999ef4e5a43a2e866037 --- /dev/null +++ b/code/VLAarchtests2_code/reports/true_baseline_compare_subset3_v1/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17_noplan_split/rollout_eval.md @@ -0,0 +1,24 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/outputs/rlbench_true_baselines/rlbench_subset3_elastic_reveal_proxy_iter6_100demo_fair_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `25` +- Episode length: `25` +- Resolution: `256` +- No planner: `False` +- Arm mode: `planning` +- Delta scale: `1.0` +- Reset retries: `20` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `3` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[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], noop_fallbacks=[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] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[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], noop_fallbacks=[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] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[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], noop_fallbacks=[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] diff --git a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/config_resolved.yaml b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20d7cdb2177f5d46ef33f62f83fd21f3ee26a410 --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/config_resolved.yaml @@ -0,0 +1,160 @@ +experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17 +output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase +device: cuda +seed: 17 +init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_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_selector_align + train_episodes_per_proxy: 48 + val_episodes_per_proxy: 16 + train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align.pt + val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt + rebuild_dataset: false + chunk_horizon: 8 + rollout_horizon: 5 + history_steps: 6 + planner_candidates: 8 + seed: 17 +optim: + epochs: 6 + batch_size: 8 + num_workers: 48 + lr: 0.0001 + weight_decay: 0.0001 +trainer: + policy_type: elastic_reveal + 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: trainable + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - decoder.proposal_score + - decoder.proposal_mode_head + - decoder.proposal_mode_embeddings + - decoder.proposal_slot_embeddings + - decoder.slot_delta + - decoder.mode_residual_heads +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 + 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 + 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 +loss_weights: + action: 1.0 + phase: 0.08 + arm_role: 0.1 + support_mode: 0.1 + corridor: 0.12 + persistence: 0.06 + disturbance: 0.06 + world_model: 0.0 + 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: 0.0 + planner_risk: 0.0 + planner_ranking: 0.0 + proposal_reconstruction: 0.2 + proposal_success: 0.35 + proposal_ranking: 0.5 + proposal_diversity: 0.02 + role_swap_consistency: 0.0 + task_metrics: 0.05 diff --git a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/metrics.json b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/metrics.json new file mode 100644 index 0000000000000000000000000000000000000000..80e82eab96fbc97c1ade096e0995da4a0fb1a044 --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/metrics.json @@ -0,0 +1,356 @@ +[ + { + "epoch": 0, + "train": { + "action": 0.008432811576252182, + "arm_role": 0.002273504649444173, + "belief": 0.10277632955047819, + "clearance": 0.08025376283460194, + "corridor": 0.21883455134100385, + "disturbance": 0.0014543996891006826, + "grasp_affordance": 0.011551767225480743, + "occluder_contact": 0.19488196902804905, + "persistence": 0.9404279150896602, + "phase": 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b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..372c8a01891643f4f3ad56d9e17028b4330803a6 --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/summary.json @@ -0,0 +1,92 @@ +{ + "experiment_name": "proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17", + "device": "cuda", + "best_checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter2_seed17/checkpoint_best.pt", + "final_train_total": 0.7607918368445502, + "final_val_total": 0.7272090800106525, + "train_time_sec": 71.96680951118469, + "peak_gpu_memory_mb": 1566.15283203125, + "num_train_samples": 359, + "num_val_samples": 123, + "planner_mode": 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"/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt", + "loaded_keys": 906, + "skipped_shape_mismatch_keys": [], + "missing_keys": [], + "unexpected_keys": [] + } +} \ No newline at end of file diff --git a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/config_resolved.yaml b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..96e94e227a8a752c52eb1e946575396325f0b23d --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/config_resolved.yaml @@ -0,0 +1,160 @@ +experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17 +output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase +device: cuda +seed: 17 +init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_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_selector_align + train_episodes_per_proxy: 48 + val_episodes_per_proxy: 16 + train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align.pt + val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.pt + rebuild_dataset: false + chunk_horizon: 8 + rollout_horizon: 5 + history_steps: 6 + planner_candidates: 8 + seed: 17 +optim: + epochs: 6 + batch_size: 8 + num_workers: 48 + lr: 0.0001 + weight_decay: 0.0001 +trainer: + policy_type: elastic_reveal + 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: trainable + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - decoder.proposal_score + - decoder.proposal_mode_head + - decoder.proposal_mode_embeddings + - decoder.proposal_slot_embeddings + - decoder.slot_delta + - decoder.mode_residual_heads +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 + 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 + 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 +loss_weights: + action: 1.0 + phase: 0.08 + arm_role: 0.1 + support_mode: 0.1 + corridor: 0.12 + persistence: 0.06 + disturbance: 0.06 + world_model: 0.0 + 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: 0.0 + planner_risk: 0.0 + planner_ranking: 0.0 + proposal_reconstruction: 0.1 + proposal_success: 0.35 + proposal_ranking: 0.5 + proposal_diversity: 0.02 + role_swap_consistency: 0.0 + task_metrics: 0.05 diff --git a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter3_seed17/metrics.json 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a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17/config_resolved.yaml b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aec835d274989f54c28c7d6148b3552e812b6851 --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17/config_resolved.yaml @@ -0,0 +1,160 @@ +experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter4_seed17 +output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase +device: cuda +seed: 17 +init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_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_selector_align_iter1 + train_episodes_per_proxy: 48 + val_episodes_per_proxy: 16 + train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter1.pt + val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter1.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: 48 + lr: 5.0e-05 + weight_decay: 0.0001 +trainer: + policy_type: elastic_reveal + 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: trainable + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - decoder.proposal_score + - decoder.proposal_mode_head + - decoder.proposal_mode_embeddings + - decoder.proposal_slot_embeddings + - decoder.slot_delta + - decoder.mode_residual_heads +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 + 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 + 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 +loss_weights: + action: 1.0 + phase: 0.08 + arm_role: 0.1 + support_mode: 0.1 + corridor: 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0000000000000000000000000000000000000000..f62f5d134550973de271b6099ea4356cb8bcbe66 --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/config_resolved.yaml @@ -0,0 +1,160 @@ +experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17 +output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase +device: cuda +seed: 17 +init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_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_selector_align_iter1 + train_episodes_per_proxy: 48 + val_episodes_per_proxy: 16 + train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter1.pt + val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter1.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: 48 + lr: 5.0e-05 + weight_decay: 0.0001 +trainer: + policy_type: elastic_reveal + 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: trainable + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - decoder.proposal_score + - decoder.proposal_mode_head + - decoder.proposal_mode_embeddings + - decoder.proposal_slot_embeddings + - decoder.slot_delta + - decoder.mode_residual_heads +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 + 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 + 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 +loss_weights: + action: 1.0 + phase: 0.08 + arm_role: 0.1 + support_mode: 0.1 + corridor: 0.12 + persistence: 0.06 + disturbance: 0.06 + world_model: 0.0 + 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: 0.0 + 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a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/summary.json b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..bf605b757f2ecb3a0145ae9cba937b3f05cefaa9 --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/summary.json @@ -0,0 +1,92 @@ +{ + "experiment_name": "proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17", + "device": "cuda", + "best_checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/checkpoint_best.pt", + "final_train_total": 0.7328991810480754, + "final_val_total": 0.6958252489566803, + "train_time_sec": 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"decoder.proposal_score.3.bias" + ], + "init_info": { + "path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/checkpoint_best.pt", + "loaded_keys": 906, + "skipped_shape_mismatch_keys": [], + "missing_keys": [], + "unexpected_keys": [] + } +} \ No newline at end of file diff --git a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/config_resolved.yaml b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fcc041cf2591a5e2c70d21350578c99580a27b2 --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/config_resolved.yaml @@ -0,0 +1,155 @@ +experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17 +output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase +device: cuda +seed: 17 +init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_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_selector_align_iter5_clothx2 + train_episodes_per_proxy: 48 + val_episodes_per_proxy: 16 + train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter5_clothx2.pt + val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter5.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: 48 + lr: 3.0e-05 + weight_decay: 0.0001 +trainer: + policy_type: elastic_reveal + 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: trainable + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - decoder.proposal_score +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 + 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 + planner: + 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"/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter5_seed17/checkpoint_best.pt", + "loaded_keys": 906, + "skipped_shape_mismatch_keys": [], + "missing_keys": [], + "unexpected_keys": [] + } +} \ No newline at end of file diff --git a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/config_resolved.yaml b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5b55f271f5d99ab37961aa1bfbbba5345f540ada --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/config_resolved.yaml @@ -0,0 +1,161 @@ +experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17 +output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase +device: cuda +seed: 17 +init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_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_selector_align_iter5_clothx2 + train_episodes_per_proxy: 48 + val_episodes_per_proxy: 16 + train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter5_clothx2.pt + val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter5.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: 48 + lr: 2.0e-05 + weight_decay: 0.0001 +trainer: + policy_type: elastic_reveal + 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: trainable + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - decoder.proposal_score + - decoder.proposal_mode_head + - decoder.proposal_mode_embeddings + - decoder.proposal_slot_embeddings + - decoder.slot_delta + - decoder.mode_residual_heads +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 + 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 + 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 +loss_weights: + action: 0.0 + phase: 0.0 + arm_role: 0.0 + support_mode: 0.0 + corridor: 0.0 + persistence: 0.0 + disturbance: 0.0 + world_model: 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: 0.0 + proposal_reconstruction: 0.05 + proposal_success: 0.45 + proposal_ranking: 0.6 + proposal_diversity: 0.02 + proposal_mode: 0.2 + role_swap_consistency: 0.0 + task_metrics: 0.0 diff --git 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a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/summary.json b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d56439aa90f7dda8c43352ba789cd63783e57450 --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/summary.json @@ -0,0 +1,92 @@ +{ + "experiment_name": "proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17", + "device": "cuda", + "best_checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter7_seed17/checkpoint_best.pt", + "final_train_total": 1.201023959276969, + "final_val_total": 1.1767956353724003, + "train_time_sec": 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"decoder.proposal_score.3.bias" + ], + "init_info": { + "path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/checkpoint_best.pt", + "loaded_keys": 906, + "skipped_shape_mismatch_keys": [], + "missing_keys": [], + "unexpected_keys": [] + } +} \ No newline at end of file diff --git a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/config_resolved.yaml b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..645b8083398a0fd66df4d17e8c137c103978c9a3 --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/config_resolved.yaml @@ -0,0 +1,162 @@ +experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17 +output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase +device: cuda +seed: 17 +init_checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_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_selector_align_iter5_clothx2 + train_episodes_per_proxy: 48 + val_episodes_per_proxy: 16 + train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align_iter5_clothx2.pt + val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align_iter5.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: 24 + lr: 2.0e-05 + weight_decay: 0.0001 +trainer: + policy_type: elastic_reveal + 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: trainable + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - decoder.proposal_score + - decoder.proposal_mode_head + - decoder.proposal_mode_embeddings + - decoder.proposal_slot_embeddings + - decoder.slot_delta + - decoder.mode_residual_heads +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 + 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 + 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 +loss_weights: + action: 0.0 + phase: 0.0 + arm_role: 0.0 + support_mode: 0.0 + corridor: 0.0 + persistence: 0.0 + disturbance: 0.0 + world_model: 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: 0.0 + proposal_reconstruction: 0.05 + proposal_success: 0.45 + proposal_ranking: 0.6 + proposal_mode: 0.2 + proposal_mode_cloth_only: true + proposal_diversity: 0.02 + role_swap_consistency: 0.0 + task_metrics: 0.0 diff --git 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a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/summary.json b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..6766c5cf9896faf81c66a30f41c252916fca7dbe --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/summary.json @@ -0,0 +1,92 @@ +{ + "experiment_name": "proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17", + "device": "cuda", + "best_checkpoint": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter8_seed17/checkpoint_best.pt", + "final_train_total": 1.179152344402514, + "final_val_total": 0.9251098297536373, + "train_time_sec": 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"decoder.proposal_score.3.bias" + ], + "init_info": { + "path": "/workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_iter6_seed17/checkpoint_best.pt", + "loaded_keys": 906, + "skipped_shape_mismatch_keys": [], + "missing_keys": [], + "unexpected_keys": [] + } +} \ No newline at end of file diff --git a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/config_resolved.yaml b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..542ead4dffaf01584a09ea6167db659fc3a770f8 --- /dev/null +++ b/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/config_resolved.yaml @@ -0,0 +1,158 @@ +experiment_name: proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17 +output_dir: /workspace/VLAarchtests/artifacts/outputs/r3d_handoff_phase +device: cuda +seed: 17 +init_checkpoint: /workspace/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_selector_align + train_episodes_per_proxy: 48 + val_episodes_per_proxy: 16 + train_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_train_clip224_v6_rgbd_stage3_phase_selector_align.pt + val_dataset_path: /workspace/VLAarchtests/artifacts/data/reveal_proxy/proxy_val_clip224_v6_rgbd_stage3_phase_selector_align.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: 48 + lr: 0.0002 + weight_decay: 0.0001 +trainer: + policy_type: elastic_reveal + 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: trainable + use_depth: true + use_world_model: false + use_role_tokens: true + compute_equivariance_probe: false + trainable_parameter_prefixes: + - decoder.proposal_score + - decoder.proposal_mode_head + - decoder.proposal_mode_embeddings + - decoder.proposal_slot_embeddings +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 + 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 + 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 +loss_weights: + action: 1.0 + phase: 0.08 + arm_role: 0.1 + support_mode: 0.1 + corridor: 0.12 + persistence: 0.06 + disturbance: 0.06 + world_model: 0.0 + 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: 0.0 + planner_risk: 0.0 + planner_ranking: 0.0 + proposal_reconstruction: 0.0 + proposal_success: 0.35 + proposal_ranking: 0.5 + proposal_diversity: 0.02 + role_swap_consistency: 0.0 + task_metrics: 0.05 diff --git a/legacy/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_v7_selector_finetune_seed17/metrics.json 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[], + "trainable_parameter_prefixes": [], + "trainable_parameter_names": [], + "train_seconds": 206.01950120925903 +} \ No newline at end of file diff --git a/legacy/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/config_resolved.yaml b/legacy/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f573a0ab258ce6e0c50029149835ba59d598e6ee --- /dev/null +++ b/legacy/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_finetune_seed17/config_resolved.yaml @@ -0,0 +1,189 @@ +experiment_name: rlbench_dual_push_backbone_only_clip_finetune_seed17 +output_dir: /workspace/outputs/rlbench_dual_push +device: cuda +seed: 17 +init_checkpoint: /workspace/outputs/rlbench_true_baselines/rlbench_subset3_backbone_only_clip_100demo_fair_seed17/checkpoint_best.pt +init_strict: false +data: + dataset_root: /workspace/data/rlbench2_subset3 + tasks: + - bimanual_dual_push_buttons 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freeze_backbone: true + gradient_checkpointing: false + plan_during_train: false + plan_during_eval: false + support_mode_conditioning: true +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 + history_steps: 2 + num_layers: 1 + dropout: 0.1 + decoder: + hidden_dim: 512 + num_heads: 8 + num_layers: 4 + ff_dim: 2048 + dropout: 0.1 + chunk_size: 8 + action_dim: 14 + num_candidates: 8 + reveal_head: + hidden_dim: 512 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + belief_map_size: 32 + predict_belief_map: true + world_model: + hidden_dim: 512 + action_dim: 14 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + planner: + hidden_dim: 512 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+ - 8 + - 9 + - 10 + - 11 + - 12 + - 13 + - 14 + - 15 + - 16 + - 17 + - 18 + - 19 + - 20 + - 21 + - 22 + - 23 + - 24 + - 25 + - 26 + - 27 + - 28 + - 29 + - 30 + - 31 + - 32 + - 33 + - 34 + - 35 + - 36 + - 37 + - 38 + - 39 + - 40 + - 41 + - 42 + - 43 + - 44 + - 45 + - 46 + - 47 + - 48 + - 49 + - 50 + - 51 + - 52 + - 53 + - 54 + - 55 + - 56 + - 57 + - 58 + - 59 + - 60 + - 61 + - 62 + - 63 + - 64 + - 65 + - 66 + - 67 + - 68 + - 69 + - 70 + - 71 + - 72 + - 73 + - 74 + - 75 + - 76 + - 77 + - 78 + - 79 + - 80 + - 81 + - 82 + - 83 + - 84 + - 85 + - 86 + - 87 + - 88 + - 89 + val_episodes: + - 90 + - 91 + - 92 + - 93 + - 94 + - 95 + - 96 + - 97 + - 98 + - 99 + resolution: 256 + chunk_horizon: 8 + supervise_action_steps: 1 + proprio_dim: 32 + history_steps: 2 +optim: + epochs: 6 + batch_size: 32 + num_workers: 24 + lr: 0.0001 + weight_decay: 0.0001 + weighted_action_sampler_min_norm: 0.05 + weighted_action_sampler_power: 2.0 +trainer: + policy_type: backbone_only + 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 +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 + history_steps: 2 + num_layers: 1 + dropout: 0.1 + decoder: + hidden_dim: 512 + num_heads: 8 + num_layers: 4 + ff_dim: 2048 + dropout: 0.1 + chunk_size: 8 + action_dim: 14 + num_candidates: 8 + reveal_head: + hidden_dim: 512 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + belief_map_size: 32 + predict_belief_map: true + world_model: + hidden_dim: 512 + action_dim: 14 + num_support_modes: 3 + num_approach_templates: 32 + rollout_horizon: 5 + 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