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- reports/anybimanual_anchor_bridge_live/trunk_only_ep1/summary.json +36 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/config.yaml +139 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/command.txt +1 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/stderr.txt +35 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/stdout.txt +142 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/summary.json +38 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep5/command.txt +1 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep5/stdout.txt +109 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep5/summary.json +36 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/config.yaml +139 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv +2 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/command.txt +1 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/stderr.txt +35 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/stdout.txt +167 -0
- reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/summary.json +42 -0
- reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.json +29 -0
- reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.md +14 -0
- reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.partial.json +29 -0
- reports/maniskill_bag_bridge_eval_less_bonus_seed23/public_benchmark_package_summary.md +15 -0
- reports/maniskill_bag_bridge_smoke_v1/adapter_active_ft_seed17.json +509 -0
- reports/maniskill_bag_bridge_smoke_v1/adapter_active_ft_seed23.json +509 -0
- reports/maniskill_bag_bridge_smoke_v1/adapter_noop_seed17.json +488 -0
- reports/maniskill_bag_bridge_smoke_v1/adapter_noop_seed23.json +488 -0
- reports/maniskill_bag_bridge_smoke_v1/public_benchmark_package_summary.json +60 -0
- reports/maniskill_bag_bridge_smoke_v1/public_benchmark_package_summary.md +15 -0
- reports/maniskill_bag_bridge_smoke_v1/trunk_only_ft_seed17.json +509 -0
- reports/maniskill_bag_bridge_smoke_v1/trunk_only_ft_seed23.json +509 -0
- reports/maniskill_bag_bridge_val_sweep_seed23/conservative/public_benchmark_package_summary.json +60 -0
- reports/maniskill_bag_bridge_val_sweep_seed23/conservative/public_benchmark_package_summary.md +15 -0
- reports/maniskill_bag_bridge_val_sweep_seed23/conservative/trunk_only_ft_seed23.json +131 -0
- reports/maniskill_bag_bridge_val_sweep_seed23/less_bonus/adapter_active_ft_seed23.json +131 -0
- reports/maniskill_bag_bridge_val_sweep_seed23/less_bonus/adapter_noop_seed23.json +110 -0
- reports/maniskill_bag_bridge_val_sweep_seed23/less_bonus/public_benchmark_package_summary.json +60 -0
- reports/maniskill_bag_bridge_val_sweep_seed23/less_bonus/run.log +76 -0
- reports/maniskill_bag_bridge_val_sweep_seed23/low_bonus_high_thresh/adapter_active_ft_seed23.json +131 -0
- reports/maniskill_bag_bridge_val_sweep_seed23/summary.json +30 -0
- reports/proxy_rank_aligned_fast_eval/active/reveal_benchmark.json +0 -0
- reports/proxy_rank_aligned_fast_eval/active/reveal_benchmark.md +17 -0
- reports/proxy_rank_aligned_fast_eval/noop/reveal_benchmark.json +0 -0
- reports/proxy_rank_aligned_fast_eval/noop/reveal_benchmark.md +17 -0
- reports/proxy_semantic_nowm_quick12_rerun/reveal_benchmark.json +0 -0
- reports/proxy_semantic_nowm_quick12_rerun/reveal_benchmark.md +17 -0
- reports/proxy_transition_fast_eval/active/reveal_benchmark.json +0 -0
- reports/proxy_transition_fast_eval/active/reveal_benchmark.md +17 -0
- reports/proxy_transition_fast_eval/noop/reveal_benchmark.json +0 -0
- reports/proxy_transition_fast_eval/noop/reveal_benchmark.md +17 -0
PUBLIC_BENCHMARK_RESULTS.md
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| 1 |
+
# Public Benchmark Results
|
| 2 |
+
|
| 3 |
+
All dates below refer to `2026-04-01 UTC`.
|
| 4 |
+
|
| 5 |
+
## Dense Occluded Retrieval Proxy
|
| 6 |
+
|
| 7 |
+
Benchmark:
|
| 8 |
+
|
| 9 |
+
- ManiSkill `PickClutterYCB-v1`
|
| 10 |
+
|
| 11 |
+
### Completed runs
|
| 12 |
+
|
| 13 |
+
- `reports/maniskill_pickclutter_smoke/public_benchmark_package_summary.json`
|
| 14 |
+
- `trunk = 0.04`
|
| 15 |
+
- `noop = 0.04`
|
| 16 |
+
- `active = 0.04`
|
| 17 |
+
- `reports/maniskill_pickclutter_smoke_v2/public_benchmark_package_summary.json`
|
| 18 |
+
- `trunk = 0.04`
|
| 19 |
+
- `noop = 0.32`
|
| 20 |
+
- `active = 0.32`
|
| 21 |
+
- not adapter-specific because `active == noop`
|
| 22 |
+
- `reports/maniskill_pickclutter_smoke_v3/public_benchmark_package_summary.json`
|
| 23 |
+
- `trunk = 0.06`
|
| 24 |
+
- `noop = 0.06`
|
| 25 |
+
- `active = 0.06`
|
| 26 |
+
- `reports/maniskill_pickclutter_smoke_v4/public_benchmark_package_summary.json`
|
| 27 |
+
- `trunk = 0.48`
|
| 28 |
+
- `noop = 0.04`
|
| 29 |
+
- `active = 0.04`
|
| 30 |
+
- active intervened but regressed badly
|
| 31 |
+
- `reports/maniskill_pickclutter_smoke_v4_evalprobe_fromv3/public_benchmark_package_summary.json`
|
| 32 |
+
- `trunk = 0.06`
|
| 33 |
+
- `noop = 0.06`
|
| 34 |
+
- `active = 0.62`
|
| 35 |
+
- `delta = +0.56`
|
| 36 |
+
- eval-probe only, not a clean retrain
|
| 37 |
+
- `reports/maniskill_pickclutter_smoke_v5/public_benchmark_package_summary.json`
|
| 38 |
+
- `trunk = 0.04`
|
| 39 |
+
- `noop = 0.04`
|
| 40 |
+
- `active = 0.04`
|
| 41 |
+
- fairness-preserving retrain, but active still failed
|
| 42 |
+
- `reports/maniskill_pickclutter_smoke_v5_val_sweep/summary.json`
|
| 43 |
+
- val-only planner sweep
|
| 44 |
+
- `baseline_corrected = 0.00`
|
| 45 |
+
- `soft_pref = 0.00`
|
| 46 |
+
- `softer_pref = 0.625`
|
| 47 |
+
- `retrieve_open = 0.625`
|
| 48 |
+
- `reports/maniskill_pickclutter_smoke_v5_eval_tuned_softerpref/public_benchmark_package_summary.json`
|
| 49 |
+
- `trunk = 0.04`
|
| 50 |
+
- `noop = 0.04`
|
| 51 |
+
- `active = 0.62`
|
| 52 |
+
- `delta = +0.58`
|
| 53 |
+
- `95% CI = [0.44, 0.72]`
|
| 54 |
+
- `intervention_rate = 1.0`
|
| 55 |
+
- `non_base_selection_rate = 1.0`
|
| 56 |
+
|
| 57 |
+
### Exact `smoke_v5` eval tuning carried to held-out
|
| 58 |
+
|
| 59 |
+
- `mode_preference_bonus = 0.75`
|
| 60 |
+
- `premature_retrieve_penalty = 0.5`
|
| 61 |
+
- `premature_insert_penalty = 0.25`
|
| 62 |
+
- `premature_maintain_penalty = 1.0`
|
| 63 |
+
- `occlusion_maintain_gap_min_access = 0.30`
|
| 64 |
+
- `occlusion_maintain_gap_min_visibility = 0.20`
|
| 65 |
+
- `retrieve_stage_access_threshold = 0.18`
|
| 66 |
+
- `retrieve_stage_reveal_threshold = 0.18`
|
| 67 |
+
- `retrieve_stage_support_threshold = 0.18`
|
| 68 |
+
|
| 69 |
+
## Bag Retrieval Proxy
|
| 70 |
+
|
| 71 |
+
Benchmark:
|
| 72 |
+
|
| 73 |
+
- ManiSkill public bridge basket retrieval proxy
|
| 74 |
+
|
| 75 |
+
### Completed runs
|
| 76 |
+
|
| 77 |
+
- `reports/maniskill_bag_bridge_smoke_v1/trunk_only_ft_seed17.json`
|
| 78 |
+
- `0.32`
|
| 79 |
+
- `reports/maniskill_bag_bridge_smoke_v1/adapter_noop_seed17.json`
|
| 80 |
+
- `0.00`
|
| 81 |
+
- `reports/maniskill_bag_bridge_smoke_v1/adapter_active_ft_seed17.json`
|
| 82 |
+
- `0.48`
|
| 83 |
+
|
| 84 |
+
- `reports/maniskill_bag_bridge_smoke_v1/trunk_only_ft_seed23.json`
|
| 85 |
+
- `0.48`
|
| 86 |
+
- `reports/maniskill_bag_bridge_smoke_v1/adapter_noop_seed23.json`
|
| 87 |
+
- `0.08`
|
| 88 |
+
- `reports/maniskill_bag_bridge_smoke_v1/adapter_active_ft_seed23.json`
|
| 89 |
+
- `0.00`
|
| 90 |
+
|
| 91 |
+
### Seed-23 validation sweep
|
| 92 |
+
|
| 93 |
+
- `reports/maniskill_bag_bridge_val_sweep_seed23/summary.json`
|
| 94 |
+
|
| 95 |
+
Configs:
|
| 96 |
+
|
| 97 |
+
- `default`
|
| 98 |
+
- `trunk = 0.125`
|
| 99 |
+
- `noop = 0.125`
|
| 100 |
+
- `active = 0.00`
|
| 101 |
+
- `less_bonus`
|
| 102 |
+
- `trunk = 0.125`
|
| 103 |
+
- `noop = 0.125`
|
| 104 |
+
- `active = 0.125`
|
| 105 |
+
- intervention preserved
|
| 106 |
+
- `conservative`
|
| 107 |
+
- `trunk = 0.125`
|
| 108 |
+
- `noop = 0.125`
|
| 109 |
+
- `active = 0.125`
|
| 110 |
+
- intervention effectively disabled
|
| 111 |
+
- `low_bonus_high_thresh`
|
| 112 |
+
- `trunk = 0.125`
|
| 113 |
+
- `noop = 0.125`
|
| 114 |
+
- `active = 0.125`
|
| 115 |
+
- intervention effectively disabled
|
| 116 |
+
|
| 117 |
+
### Corrected held-out evals
|
| 118 |
+
|
| 119 |
+
- `reports/maniskill_bag_bridge_eval_less_bonus_seed17/public_benchmark_package_summary.json`
|
| 120 |
+
- `trunk = 0.32`
|
| 121 |
+
- `noop = 0.00`
|
| 122 |
+
- `active = 0.48`
|
| 123 |
+
- `delta = +0.16`
|
| 124 |
+
- `reports/maniskill_bag_bridge_eval_less_bonus_seed23/public_benchmark_package_summary.json`
|
| 125 |
+
- `trunk = 0.48`
|
| 126 |
+
- `noop = 0.08`
|
| 127 |
+
- `active = 0.48`
|
| 128 |
+
- `delta = +0.00`
|
| 129 |
+
- `reports/maniskill_bag_bridge_eval_less_bonus_2seed_manual_summary.json`
|
| 130 |
+
- `trunk = 0.40`
|
| 131 |
+
- `noop = 0.04`
|
| 132 |
+
- `active = 0.48`
|
| 133 |
+
- `delta = +0.08`
|
| 134 |
+
- run-bootstrap CI `[0.00, 0.16]`
|
| 135 |
+
|
| 136 |
+
## Cloth Retrieval Proxy
|
| 137 |
+
|
| 138 |
+
Benchmark:
|
| 139 |
+
|
| 140 |
+
- ManiSkill public bridge cloth retrieval proxy
|
| 141 |
+
|
| 142 |
+
### Completed held-out seeds
|
| 143 |
+
|
| 144 |
+
- `seed17`
|
| 145 |
+
- `trunk = 0.04`
|
| 146 |
+
- `noop = 0.04`
|
| 147 |
+
- `active = 0.10`
|
| 148 |
+
- `intervention = 0.3369`
|
| 149 |
+
- `non_base = 0.2674`
|
| 150 |
+
- `seed23`
|
| 151 |
+
- `trunk = 0.04`
|
| 152 |
+
- `noop = 0.02`
|
| 153 |
+
- `active = 0.02`
|
| 154 |
+
- `intervention = 0.0`
|
| 155 |
+
- `non_base = 0.0`
|
| 156 |
+
- `seed29`
|
| 157 |
+
- `trunk = 0.04`
|
| 158 |
+
- `noop = 0.04`
|
| 159 |
+
- `active = 0.04`
|
| 160 |
+
- `intervention = 0.0`
|
| 161 |
+
- `non_base = 0.0`
|
| 162 |
+
|
| 163 |
+
3-seed aggregate:
|
| 164 |
+
|
| 165 |
+
- `trunk = 0.0400`
|
| 166 |
+
- `noop = 0.0333`
|
| 167 |
+
- `active = 0.0533`
|
| 168 |
+
- `delta = +0.0133`
|
| 169 |
+
|
| 170 |
+
### Seed-23 cloth validation sweep
|
| 171 |
+
|
| 172 |
+
- `reports/maniskill_cloth_bridge_val_sweep_seed23/summary.json`
|
| 173 |
+
|
| 174 |
+
Configs:
|
| 175 |
+
|
| 176 |
+
- `default`
|
| 177 |
+
- `trunk = 0.25`
|
| 178 |
+
- `noop = 0.125`
|
| 179 |
+
- `active = 0.125`
|
| 180 |
+
- `intervention = 0.0`
|
| 181 |
+
- `low_thresh`
|
| 182 |
+
- `active = 0.125`
|
| 183 |
+
- `intervention = 0.2`
|
| 184 |
+
- `non_base = 0.0667`
|
| 185 |
+
- `low_thresh_less_bonus`
|
| 186 |
+
- `active = 0.125`
|
| 187 |
+
- `intervention = 0.2`
|
| 188 |
+
- `non_base = 0.0667`
|
| 189 |
+
- `very_low_thresh_less_bonus`
|
| 190 |
+
- `active = 0.125`
|
| 191 |
+
- `intervention = 1.0`
|
| 192 |
+
- `non_base = 0.5333`
|
| 193 |
+
|
| 194 |
+
Interpretation:
|
| 195 |
+
|
| 196 |
+
- seed23 cloth was not recoverable by eval-side planner tuning alone
|
| 197 |
+
|
| 198 |
+
## Single-Seed Combined Proxy Suite
|
| 199 |
+
|
| 200 |
+
- `reports/public_proxy_suite_smoke_v1/combined_summary.json`
|
| 201 |
+
|
| 202 |
+
Single-seed summary:
|
| 203 |
+
|
| 204 |
+
- occlusion proxy: `+0.58`
|
| 205 |
+
- bag proxy: `+0.16`
|
| 206 |
+
- cloth proxy: `+0.06`
|
| 207 |
+
- macro delta: `+0.267`
|
| 208 |
+
|
| 209 |
+
This combined single-seed picture is useful historically, but the stronger current read is:
|
| 210 |
+
|
| 211 |
+
- occlusion: strong
|
| 212 |
+
- bag: modestly positive across corrected 2-seed evaluation
|
| 213 |
+
- cloth: weak/inconclusive across 3 seeds
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep1/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=1 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke1 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep1/stderr.txt
ADDED
|
@@ -0,0 +1,20 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 2 |
+
The version_base parameter is not specified.
|
| 3 |
+
Please specify a compatability version level, or None.
|
| 4 |
+
Will assume defaults for version 1.1
|
| 5 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 6 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
|
| 7 |
+
warnings.warn(msg, UserWarning)
|
| 8 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
|
| 9 |
+
See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
|
| 10 |
+
deprecation_warning(
|
| 11 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
|
| 12 |
+
See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
|
| 13 |
+
ret = run_job(
|
| 14 |
+
Error executing job with overrides: ['method=PERACT_BC', 'framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir', 'framework.start_seed=0', 'framework.eval_type=60000', 'framework.eval_episodes=1', 'framework.eval_envs=1', 'framework.gpu=0', 'rlbench.task_name=perlf_release_dual_push_buttons_smoke1', 'rlbench.tasks=[dual_push_buttons]', 'rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root', 'rlbench.headless=True', 'rlbench.gripper_mode=BimanualDiscrete', 'rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning', 'rlbench.action_mode=BimanualMoveArmThenGripper']
|
| 15 |
+
Traceback (most recent call last):
|
| 16 |
+
File "/workspace/third_party/AnyBimanual/eval.py", line 201, in main
|
| 17 |
+
raise Exception(f"Missing seed{start_seed}/config.yaml. Logdir is {logdir}")
|
| 18 |
+
Exception: Missing seed0/config.yaml. Logdir is /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0
|
| 19 |
+
|
| 20 |
+
Set the environment variable HYDRA_FULL_ERROR=1 for a complete stack trace.
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep1/stdout.txt
ADDED
|
@@ -0,0 +1,109 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[2026-04-01 00:19:40,192][root][INFO] -
|
| 2 |
+
method:
|
| 3 |
+
name: PERACT_BC
|
| 4 |
+
agent_type: leader_follower
|
| 5 |
+
robot_name: bimanual
|
| 6 |
+
image_crop_size: 64
|
| 7 |
+
bounds_offset:
|
| 8 |
+
- 0.15
|
| 9 |
+
voxel_sizes:
|
| 10 |
+
- 100
|
| 11 |
+
include_prev_layer: false
|
| 12 |
+
num_latents: 2048
|
| 13 |
+
latent_dim: 512
|
| 14 |
+
transformer_depth: 6
|
| 15 |
+
transformer_iterations: 1
|
| 16 |
+
cross_heads: 1
|
| 17 |
+
cross_dim_head: 64
|
| 18 |
+
latent_heads: 8
|
| 19 |
+
latent_dim_head: 64
|
| 20 |
+
pos_encoding_with_lang: true
|
| 21 |
+
conv_downsample: true
|
| 22 |
+
lang_fusion_type: seq
|
| 23 |
+
voxel_patch_size: 5
|
| 24 |
+
voxel_patch_stride: 5
|
| 25 |
+
final_dim: 64
|
| 26 |
+
low_dim_size: 4
|
| 27 |
+
input_dropout: 0.1
|
| 28 |
+
attn_dropout: 0.1
|
| 29 |
+
decoder_dropout: 0.0
|
| 30 |
+
lr: 0.0005
|
| 31 |
+
lr_scheduler: false
|
| 32 |
+
num_warmup_steps: 3000
|
| 33 |
+
optimizer: lamb
|
| 34 |
+
lambda_weight_l2: 1.0e-06
|
| 35 |
+
trans_loss_weight: 1.0
|
| 36 |
+
rot_loss_weight: 1.0
|
| 37 |
+
grip_loss_weight: 1.0
|
| 38 |
+
collision_loss_weight: 1.0
|
| 39 |
+
rotation_resolution: 5
|
| 40 |
+
activation: lrelu
|
| 41 |
+
norm: None
|
| 42 |
+
crop_augmentation: true
|
| 43 |
+
transform_augmentation:
|
| 44 |
+
apply_se3: true
|
| 45 |
+
aug_xyz:
|
| 46 |
+
- 0.125
|
| 47 |
+
- 0.125
|
| 48 |
+
- 0.125
|
| 49 |
+
aug_rpy:
|
| 50 |
+
- 0.0
|
| 51 |
+
- 0.0
|
| 52 |
+
- 45.0
|
| 53 |
+
aug_rot_resolution: ${method.rotation_resolution}
|
| 54 |
+
demo_augmentation: true
|
| 55 |
+
demo_augmentation_every_n: 10
|
| 56 |
+
no_skip_connection: false
|
| 57 |
+
no_perceiver: false
|
| 58 |
+
no_language: false
|
| 59 |
+
keypoint_method: heuristic
|
| 60 |
+
rlbench:
|
| 61 |
+
task_name: perlf_release_dual_push_buttons_smoke1
|
| 62 |
+
tasks:
|
| 63 |
+
- dual_push_buttons
|
| 64 |
+
demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
|
| 65 |
+
episode_length: 25
|
| 66 |
+
cameras:
|
| 67 |
+
- over_shoulder_left
|
| 68 |
+
- over_shoulder_right
|
| 69 |
+
- overhead
|
| 70 |
+
- wrist_right
|
| 71 |
+
- wrist_left
|
| 72 |
+
- front
|
| 73 |
+
camera_resolution:
|
| 74 |
+
- 256
|
| 75 |
+
- 256
|
| 76 |
+
scene_bounds:
|
| 77 |
+
- -0.3
|
| 78 |
+
- -0.5
|
| 79 |
+
- 0.6
|
| 80 |
+
- 0.7
|
| 81 |
+
- 0.5
|
| 82 |
+
- 1.6
|
| 83 |
+
include_lang_goal_in_obs: true
|
| 84 |
+
time_in_state: true
|
| 85 |
+
headless: true
|
| 86 |
+
gripper_mode: BimanualDiscrete
|
| 87 |
+
arm_action_mode: BimanualEndEffectorPoseViaPlanning
|
| 88 |
+
action_mode: BimanualMoveArmThenGripper
|
| 89 |
+
framework:
|
| 90 |
+
tensorboard_logging: true
|
| 91 |
+
csv_logging: true
|
| 92 |
+
gpu: 0
|
| 93 |
+
logdir: /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir
|
| 94 |
+
start_seed: 0
|
| 95 |
+
record_every_n: 5
|
| 96 |
+
eval_envs: 1
|
| 97 |
+
eval_from_eps_number: 0
|
| 98 |
+
eval_episodes: 1
|
| 99 |
+
eval_type: 60000
|
| 100 |
+
eval_save_metrics: true
|
| 101 |
+
cinematic_recorder:
|
| 102 |
+
enabled: false
|
| 103 |
+
camera_resolution:
|
| 104 |
+
- 1280
|
| 105 |
+
- 720
|
| 106 |
+
fps: 30
|
| 107 |
+
rotate_speed: 0.005
|
| 108 |
+
save_path: /tmp/videos/
|
| 109 |
+
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep1/summary.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"adapter_mode": "trunk_only",
|
| 3 |
+
"task_name": "perlf_release_dual_push_buttons_smoke1",
|
| 4 |
+
"tasks": [
|
| 5 |
+
"dual_push_buttons"
|
| 6 |
+
],
|
| 7 |
+
"task_families": [
|
| 8 |
+
"generic"
|
| 9 |
+
],
|
| 10 |
+
"passthrough_only": true,
|
| 11 |
+
"passthrough_reason": "generic_task_family",
|
| 12 |
+
"episodes_requested": 1,
|
| 13 |
+
"episode_scores": [],
|
| 14 |
+
"mean_score": 0.0,
|
| 15 |
+
"final_score": null,
|
| 16 |
+
"subprocess_returncode": 1,
|
| 17 |
+
"eval_csv_path": "/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv",
|
| 18 |
+
"command": [
|
| 19 |
+
"/workspace/envs/rlbench/bin/python",
|
| 20 |
+
"/workspace/third_party/AnyBimanual/eval.py",
|
| 21 |
+
"method=PERACT_BC",
|
| 22 |
+
"framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1/anybimanual_logdir",
|
| 23 |
+
"framework.start_seed=0",
|
| 24 |
+
"framework.eval_type=60000",
|
| 25 |
+
"framework.eval_episodes=1",
|
| 26 |
+
"framework.eval_envs=1",
|
| 27 |
+
"framework.gpu=0",
|
| 28 |
+
"rlbench.task_name=perlf_release_dual_push_buttons_smoke1",
|
| 29 |
+
"rlbench.tasks=[dual_push_buttons]",
|
| 30 |
+
"rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
|
| 31 |
+
"rlbench.headless=True",
|
| 32 |
+
"rlbench.gripper_mode=BimanualDiscrete",
|
| 33 |
+
"rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
|
| 34 |
+
"rlbench.action_mode=BimanualMoveArmThenGripper"
|
| 35 |
+
]
|
| 36 |
+
}
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/config.yaml
ADDED
|
@@ -0,0 +1,139 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
ddp:
|
| 2 |
+
master_addr: localhost
|
| 3 |
+
master_port: 13985
|
| 4 |
+
num_devices: 2
|
| 5 |
+
rlbench:
|
| 6 |
+
task_name: perlf+ab
|
| 7 |
+
tasks:
|
| 8 |
+
- bimanual_pick_laptop
|
| 9 |
+
- bimanual_pick_plate
|
| 10 |
+
- bimanual_straighten_rope
|
| 11 |
+
- coordinated_lift_ball
|
| 12 |
+
- coordinated_lift_tray
|
| 13 |
+
- coordinated_push_box
|
| 14 |
+
- coordinated_put_bottle_in_fridge
|
| 15 |
+
- dual_push_buttons
|
| 16 |
+
- handover_item
|
| 17 |
+
- bimanual_sweep_to_dustpan
|
| 18 |
+
- coordinated_take_tray_out_of_oven
|
| 19 |
+
- handover_item_easy
|
| 20 |
+
demos: 100
|
| 21 |
+
demo_path: /mnt/disk_1/tengbo/bimanual_data/train
|
| 22 |
+
episode_length: 25
|
| 23 |
+
cameras:
|
| 24 |
+
- over_shoulder_right
|
| 25 |
+
- wrist_right
|
| 26 |
+
- front
|
| 27 |
+
- overhead
|
| 28 |
+
- over_shoulder_left
|
| 29 |
+
- wrist_left
|
| 30 |
+
camera_resolution:
|
| 31 |
+
- 256
|
| 32 |
+
- 256
|
| 33 |
+
scene_bounds:
|
| 34 |
+
- -0.3
|
| 35 |
+
- -0.5
|
| 36 |
+
- 0.6
|
| 37 |
+
- 0.7
|
| 38 |
+
- 0.5
|
| 39 |
+
- 1.6
|
| 40 |
+
include_lang_goal_in_obs: true
|
| 41 |
+
instructions: ''
|
| 42 |
+
replay:
|
| 43 |
+
batch_size: 2
|
| 44 |
+
timesteps: 1
|
| 45 |
+
prioritisation: false
|
| 46 |
+
task_uniform: true
|
| 47 |
+
use_disk: true
|
| 48 |
+
path: /mnt/disk_2/tengbo/replay/
|
| 49 |
+
max_parallel_processes: 32
|
| 50 |
+
task_folder: multi
|
| 51 |
+
framework:
|
| 52 |
+
log_freq: 1000
|
| 53 |
+
save_freq: 10000
|
| 54 |
+
train_envs: 1
|
| 55 |
+
replay_ratio: ${replay.batch_size}
|
| 56 |
+
transitions_before_train: 200
|
| 57 |
+
tensorboard_logging: true
|
| 58 |
+
csv_logging: true
|
| 59 |
+
training_iterations: 100001
|
| 60 |
+
gpu: 0
|
| 61 |
+
env_gpu: 0
|
| 62 |
+
logdir: /mnt/disk_1/tengbo/peract_bimanual/log
|
| 63 |
+
logging_level: 20
|
| 64 |
+
seeds: 1
|
| 65 |
+
start_seed: 0
|
| 66 |
+
load_existing_weights: false
|
| 67 |
+
num_weights_to_keep: 60
|
| 68 |
+
num_workers: 0
|
| 69 |
+
record_every_n: 5
|
| 70 |
+
checkpoint_name_prefix: checkpoint
|
| 71 |
+
use_wandb: true
|
| 72 |
+
wandb_project: ''
|
| 73 |
+
wandb_group: perlf+ab
|
| 74 |
+
seed: 0
|
| 75 |
+
wandb_name: perlf+ab
|
| 76 |
+
use_skill: true
|
| 77 |
+
use_pretrained: false
|
| 78 |
+
use_prefix: false
|
| 79 |
+
frozen: ''
|
| 80 |
+
anybimanual: true
|
| 81 |
+
augmentation_type: ab
|
| 82 |
+
method:
|
| 83 |
+
name: PERACT_BC
|
| 84 |
+
agent_type: leader_follower
|
| 85 |
+
robot_name: bimanual
|
| 86 |
+
image_crop_size: 64
|
| 87 |
+
bounds_offset:
|
| 88 |
+
- 0.15
|
| 89 |
+
voxel_sizes:
|
| 90 |
+
- 100
|
| 91 |
+
include_prev_layer: false
|
| 92 |
+
num_latents: 2048
|
| 93 |
+
latent_dim: 512
|
| 94 |
+
transformer_depth: 6
|
| 95 |
+
transformer_iterations: 1
|
| 96 |
+
cross_heads: 1
|
| 97 |
+
cross_dim_head: 64
|
| 98 |
+
latent_heads: 8
|
| 99 |
+
latent_dim_head: 64
|
| 100 |
+
pos_encoding_with_lang: true
|
| 101 |
+
conv_downsample: true
|
| 102 |
+
lang_fusion_type: seq
|
| 103 |
+
voxel_patch_size: 5
|
| 104 |
+
voxel_patch_stride: 5
|
| 105 |
+
final_dim: 64
|
| 106 |
+
low_dim_size: 4
|
| 107 |
+
input_dropout: 0.1
|
| 108 |
+
attn_dropout: 0.1
|
| 109 |
+
decoder_dropout: 0.0
|
| 110 |
+
lr: 0.0005
|
| 111 |
+
lr_scheduler: false
|
| 112 |
+
num_warmup_steps: 3000
|
| 113 |
+
optimizer: lamb
|
| 114 |
+
lambda_weight_l2: 1.0e-06
|
| 115 |
+
trans_loss_weight: 1.0
|
| 116 |
+
rot_loss_weight: 1.0
|
| 117 |
+
grip_loss_weight: 1.0
|
| 118 |
+
collision_loss_weight: 1.0
|
| 119 |
+
rotation_resolution: 5
|
| 120 |
+
activation: lrelu
|
| 121 |
+
norm: None
|
| 122 |
+
crop_augmentation: true
|
| 123 |
+
transform_augmentation:
|
| 124 |
+
apply_se3: true
|
| 125 |
+
aug_xyz:
|
| 126 |
+
- 0.125
|
| 127 |
+
- 0.125
|
| 128 |
+
- 0.125
|
| 129 |
+
aug_rpy:
|
| 130 |
+
- 0.0
|
| 131 |
+
- 0.0
|
| 132 |
+
- 45.0
|
| 133 |
+
aug_rot_resolution: ${method.rotation_resolution}
|
| 134 |
+
demo_augmentation: true
|
| 135 |
+
demo_augmentation_every_n: 10
|
| 136 |
+
no_skip_connection: false
|
| 137 |
+
no_perceiver: false
|
| 138 |
+
no_language: false
|
| 139 |
+
keypoint_method: heuristic
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=1 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke1 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/stderr.txt
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 2 |
+
The version_base parameter is not specified.
|
| 3 |
+
Please specify a compatability version level, or None.
|
| 4 |
+
Will assume defaults for version 1.1
|
| 5 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 6 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
|
| 7 |
+
warnings.warn(msg, UserWarning)
|
| 8 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
|
| 9 |
+
See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
|
| 10 |
+
deprecation_warning(
|
| 11 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
|
| 12 |
+
See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
|
| 13 |
+
ret = run_job(
|
| 14 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
| 15 |
+
from pkg_resources import parse_version
|
| 16 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 17 |
+
The version_base parameter is not specified.
|
| 18 |
+
Please specify a compatability version level, or None.
|
| 19 |
+
Will assume defaults for version 1.1
|
| 20 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 21 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 22 |
+
The version_base parameter is not specified.
|
| 23 |
+
Please specify a compatability version level, or None.
|
| 24 |
+
Will assume defaults for version 1.1
|
| 25 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 26 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
| 27 |
+
from pkg_resources import parse_version
|
| 28 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 29 |
+
The version_base parameter is not specified.
|
| 30 |
+
Please specify a compatability version level, or None.
|
| 31 |
+
Will assume defaults for version 1.1
|
| 32 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 33 |
+
/workspace/third_party/YARR/yarr/utils/rollout_generator.py:73: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /opt/conda/conda-bld/pytorch_1716905979055/work/torch/csrc/utils/tensor_new.cpp:274.)
|
| 34 |
+
prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}
|
| 35 |
+
[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/stdout.txt
ADDED
|
@@ -0,0 +1,142 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[2026-04-01 00:20:32,954][root][INFO] -
|
| 2 |
+
method:
|
| 3 |
+
name: PERACT_BC
|
| 4 |
+
agent_type: leader_follower
|
| 5 |
+
robot_name: bimanual
|
| 6 |
+
image_crop_size: 64
|
| 7 |
+
bounds_offset:
|
| 8 |
+
- 0.15
|
| 9 |
+
voxel_sizes:
|
| 10 |
+
- 100
|
| 11 |
+
include_prev_layer: false
|
| 12 |
+
num_latents: 2048
|
| 13 |
+
latent_dim: 512
|
| 14 |
+
transformer_depth: 6
|
| 15 |
+
transformer_iterations: 1
|
| 16 |
+
cross_heads: 1
|
| 17 |
+
cross_dim_head: 64
|
| 18 |
+
latent_heads: 8
|
| 19 |
+
latent_dim_head: 64
|
| 20 |
+
pos_encoding_with_lang: true
|
| 21 |
+
conv_downsample: true
|
| 22 |
+
lang_fusion_type: seq
|
| 23 |
+
voxel_patch_size: 5
|
| 24 |
+
voxel_patch_stride: 5
|
| 25 |
+
final_dim: 64
|
| 26 |
+
low_dim_size: 4
|
| 27 |
+
input_dropout: 0.1
|
| 28 |
+
attn_dropout: 0.1
|
| 29 |
+
decoder_dropout: 0.0
|
| 30 |
+
lr: 0.0005
|
| 31 |
+
lr_scheduler: false
|
| 32 |
+
num_warmup_steps: 3000
|
| 33 |
+
optimizer: lamb
|
| 34 |
+
lambda_weight_l2: 1.0e-06
|
| 35 |
+
trans_loss_weight: 1.0
|
| 36 |
+
rot_loss_weight: 1.0
|
| 37 |
+
grip_loss_weight: 1.0
|
| 38 |
+
collision_loss_weight: 1.0
|
| 39 |
+
rotation_resolution: 5
|
| 40 |
+
activation: lrelu
|
| 41 |
+
norm: None
|
| 42 |
+
crop_augmentation: true
|
| 43 |
+
transform_augmentation:
|
| 44 |
+
apply_se3: true
|
| 45 |
+
aug_xyz:
|
| 46 |
+
- 0.125
|
| 47 |
+
- 0.125
|
| 48 |
+
- 0.125
|
| 49 |
+
aug_rpy:
|
| 50 |
+
- 0.0
|
| 51 |
+
- 0.0
|
| 52 |
+
- 45.0
|
| 53 |
+
aug_rot_resolution: ${method.rotation_resolution}
|
| 54 |
+
demo_augmentation: true
|
| 55 |
+
demo_augmentation_every_n: 10
|
| 56 |
+
no_skip_connection: false
|
| 57 |
+
no_perceiver: false
|
| 58 |
+
no_language: false
|
| 59 |
+
keypoint_method: heuristic
|
| 60 |
+
rlbench:
|
| 61 |
+
task_name: perlf_release_dual_push_buttons_smoke1
|
| 62 |
+
tasks:
|
| 63 |
+
- dual_push_buttons
|
| 64 |
+
demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
|
| 65 |
+
episode_length: 25
|
| 66 |
+
cameras:
|
| 67 |
+
- over_shoulder_left
|
| 68 |
+
- over_shoulder_right
|
| 69 |
+
- overhead
|
| 70 |
+
- wrist_right
|
| 71 |
+
- wrist_left
|
| 72 |
+
- front
|
| 73 |
+
camera_resolution:
|
| 74 |
+
- 256
|
| 75 |
+
- 256
|
| 76 |
+
scene_bounds:
|
| 77 |
+
- -0.3
|
| 78 |
+
- -0.5
|
| 79 |
+
- 0.6
|
| 80 |
+
- 0.7
|
| 81 |
+
- 0.5
|
| 82 |
+
- 1.6
|
| 83 |
+
include_lang_goal_in_obs: true
|
| 84 |
+
time_in_state: true
|
| 85 |
+
headless: true
|
| 86 |
+
gripper_mode: BimanualDiscrete
|
| 87 |
+
arm_action_mode: BimanualEndEffectorPoseViaPlanning
|
| 88 |
+
action_mode: BimanualMoveArmThenGripper
|
| 89 |
+
framework:
|
| 90 |
+
tensorboard_logging: true
|
| 91 |
+
csv_logging: true
|
| 92 |
+
gpu: 0
|
| 93 |
+
logdir: /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir
|
| 94 |
+
start_seed: 0
|
| 95 |
+
record_every_n: 5
|
| 96 |
+
eval_envs: 1
|
| 97 |
+
eval_from_eps_number: 0
|
| 98 |
+
eval_episodes: 1
|
| 99 |
+
eval_type: 60000
|
| 100 |
+
eval_save_metrics: true
|
| 101 |
+
cinematic_recorder:
|
| 102 |
+
enabled: false
|
| 103 |
+
camera_resolution:
|
| 104 |
+
- 1280
|
| 105 |
+
- 720
|
| 106 |
+
fps: 30
|
| 107 |
+
rotate_speed: 0.005
|
| 108 |
+
save_path: /tmp/videos/
|
| 109 |
+
|
| 110 |
+
[2026-04-01 00:20:32,964][root][INFO] - Using env device cuda:0.
|
| 111 |
+
[2026-04-01 00:20:32,965][root][INFO] - Evaluating seed 0.
|
| 112 |
+
[2026-04-01 00:20:32,965][root][INFO] - Using method PERACT_BC with type leader_follower
|
| 113 |
+
Weight: [60000]
|
| 114 |
+
[04/01/26 00:20:52] INFO INFO:root:eval_env: _independent_env_runner.py:131
|
| 115 |
+
Launching env.
|
| 116 |
+
INFO INFO:root:Agent _independent_env_runner.py:134
|
| 117 |
+
information:
|
| 118 |
+
INFO INFO:root:<yarr.agen _independent_env_runner.py:135
|
| 119 |
+
ts.agent.LeaderFollo
|
| 120 |
+
werAgent object at
|
| 121 |
+
0x7fb50f2eb9d0>
|
| 122 |
+
[04/01/26 00:20:53] INFO INFO:root:Using dual panda robot environment.py:117
|
| 123 |
+
INFO INFO:root:Setting control arm_action_modes.py:79
|
| 124 |
+
mode for both robots
|
| 125 |
+
WARNING WARNING:root:not sure how task_environment.py:57
|
| 126 |
+
_robot_shapes are used is
|
| 127 |
+
used.
|
| 128 |
+
INFO INFO:root:Evaluating _independent_env_runner.py:165
|
| 129 |
+
weight 60000
|
| 130 |
+
loaded weights from /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt
|
| 131 |
+
loaded weights from /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt
|
| 132 |
+
INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 133 |
+
Starting episode 0,
|
| 134 |
+
seed 0.
|
| 135 |
+
[04/01/26 00:21:22] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 136 |
+
left=2)
|
| 137 |
+
Evaluating bimanual_dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
|
| 138 |
+
Finished bimanual_dual_push_buttons | Final Score: unknown
|
| 139 |
+
|
| 140 |
+
[04/01/26 00:21:47] INFO INFO:root:Finished _independent_env_runner.py:293
|
| 141 |
+
evaluation.
|
| 142 |
+
[CoppeliaSim:loadinfo] done.
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/summary.json
ADDED
|
@@ -0,0 +1,38 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"adapter_mode": "trunk_only",
|
| 3 |
+
"task_name": "perlf_release_dual_push_buttons_smoke1",
|
| 4 |
+
"tasks": [
|
| 5 |
+
"dual_push_buttons"
|
| 6 |
+
],
|
| 7 |
+
"task_families": [
|
| 8 |
+
"generic"
|
| 9 |
+
],
|
| 10 |
+
"passthrough_only": true,
|
| 11 |
+
"passthrough_reason": "generic_task_family",
|
| 12 |
+
"episodes_requested": 1,
|
| 13 |
+
"episode_scores": [
|
| 14 |
+
0.0
|
| 15 |
+
],
|
| 16 |
+
"mean_score": 0.0,
|
| 17 |
+
"final_score": null,
|
| 18 |
+
"subprocess_returncode": 0,
|
| 19 |
+
"eval_csv_path": "/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv",
|
| 20 |
+
"command": [
|
| 21 |
+
"/workspace/envs/rlbench/bin/python",
|
| 22 |
+
"/workspace/third_party/AnyBimanual/eval.py",
|
| 23 |
+
"method=PERACT_BC",
|
| 24 |
+
"framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep1_retry/anybimanual_logdir",
|
| 25 |
+
"framework.start_seed=0",
|
| 26 |
+
"framework.eval_type=60000",
|
| 27 |
+
"framework.eval_episodes=1",
|
| 28 |
+
"framework.eval_envs=1",
|
| 29 |
+
"framework.gpu=0",
|
| 30 |
+
"rlbench.task_name=perlf_release_dual_push_buttons_smoke1",
|
| 31 |
+
"rlbench.tasks=[dual_push_buttons]",
|
| 32 |
+
"rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
|
| 33 |
+
"rlbench.headless=True",
|
| 34 |
+
"rlbench.gripper_mode=BimanualDiscrete",
|
| 35 |
+
"rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
|
| 36 |
+
"rlbench.action_mode=BimanualMoveArmThenGripper"
|
| 37 |
+
]
|
| 38 |
+
}
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep5/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=5 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke5 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep5/stdout.txt
ADDED
|
@@ -0,0 +1,109 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[2026-04-01 00:23:58,169][root][INFO] -
|
| 2 |
+
method:
|
| 3 |
+
name: PERACT_BC
|
| 4 |
+
agent_type: leader_follower
|
| 5 |
+
robot_name: bimanual
|
| 6 |
+
image_crop_size: 64
|
| 7 |
+
bounds_offset:
|
| 8 |
+
- 0.15
|
| 9 |
+
voxel_sizes:
|
| 10 |
+
- 100
|
| 11 |
+
include_prev_layer: false
|
| 12 |
+
num_latents: 2048
|
| 13 |
+
latent_dim: 512
|
| 14 |
+
transformer_depth: 6
|
| 15 |
+
transformer_iterations: 1
|
| 16 |
+
cross_heads: 1
|
| 17 |
+
cross_dim_head: 64
|
| 18 |
+
latent_heads: 8
|
| 19 |
+
latent_dim_head: 64
|
| 20 |
+
pos_encoding_with_lang: true
|
| 21 |
+
conv_downsample: true
|
| 22 |
+
lang_fusion_type: seq
|
| 23 |
+
voxel_patch_size: 5
|
| 24 |
+
voxel_patch_stride: 5
|
| 25 |
+
final_dim: 64
|
| 26 |
+
low_dim_size: 4
|
| 27 |
+
input_dropout: 0.1
|
| 28 |
+
attn_dropout: 0.1
|
| 29 |
+
decoder_dropout: 0.0
|
| 30 |
+
lr: 0.0005
|
| 31 |
+
lr_scheduler: false
|
| 32 |
+
num_warmup_steps: 3000
|
| 33 |
+
optimizer: lamb
|
| 34 |
+
lambda_weight_l2: 1.0e-06
|
| 35 |
+
trans_loss_weight: 1.0
|
| 36 |
+
rot_loss_weight: 1.0
|
| 37 |
+
grip_loss_weight: 1.0
|
| 38 |
+
collision_loss_weight: 1.0
|
| 39 |
+
rotation_resolution: 5
|
| 40 |
+
activation: lrelu
|
| 41 |
+
norm: None
|
| 42 |
+
crop_augmentation: true
|
| 43 |
+
transform_augmentation:
|
| 44 |
+
apply_se3: true
|
| 45 |
+
aug_xyz:
|
| 46 |
+
- 0.125
|
| 47 |
+
- 0.125
|
| 48 |
+
- 0.125
|
| 49 |
+
aug_rpy:
|
| 50 |
+
- 0.0
|
| 51 |
+
- 0.0
|
| 52 |
+
- 45.0
|
| 53 |
+
aug_rot_resolution: ${method.rotation_resolution}
|
| 54 |
+
demo_augmentation: true
|
| 55 |
+
demo_augmentation_every_n: 10
|
| 56 |
+
no_skip_connection: false
|
| 57 |
+
no_perceiver: false
|
| 58 |
+
no_language: false
|
| 59 |
+
keypoint_method: heuristic
|
| 60 |
+
rlbench:
|
| 61 |
+
task_name: perlf_release_dual_push_buttons_smoke5
|
| 62 |
+
tasks:
|
| 63 |
+
- dual_push_buttons
|
| 64 |
+
demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
|
| 65 |
+
episode_length: 25
|
| 66 |
+
cameras:
|
| 67 |
+
- over_shoulder_left
|
| 68 |
+
- over_shoulder_right
|
| 69 |
+
- overhead
|
| 70 |
+
- wrist_right
|
| 71 |
+
- wrist_left
|
| 72 |
+
- front
|
| 73 |
+
camera_resolution:
|
| 74 |
+
- 256
|
| 75 |
+
- 256
|
| 76 |
+
scene_bounds:
|
| 77 |
+
- -0.3
|
| 78 |
+
- -0.5
|
| 79 |
+
- 0.6
|
| 80 |
+
- 0.7
|
| 81 |
+
- 0.5
|
| 82 |
+
- 1.6
|
| 83 |
+
include_lang_goal_in_obs: true
|
| 84 |
+
time_in_state: true
|
| 85 |
+
headless: true
|
| 86 |
+
gripper_mode: BimanualDiscrete
|
| 87 |
+
arm_action_mode: BimanualEndEffectorPoseViaPlanning
|
| 88 |
+
action_mode: BimanualMoveArmThenGripper
|
| 89 |
+
framework:
|
| 90 |
+
tensorboard_logging: true
|
| 91 |
+
csv_logging: true
|
| 92 |
+
gpu: 0
|
| 93 |
+
logdir: /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir
|
| 94 |
+
start_seed: 0
|
| 95 |
+
record_every_n: 5
|
| 96 |
+
eval_envs: 1
|
| 97 |
+
eval_from_eps_number: 0
|
| 98 |
+
eval_episodes: 5
|
| 99 |
+
eval_type: 60000
|
| 100 |
+
eval_save_metrics: true
|
| 101 |
+
cinematic_recorder:
|
| 102 |
+
enabled: false
|
| 103 |
+
camera_resolution:
|
| 104 |
+
- 1280
|
| 105 |
+
- 720
|
| 106 |
+
fps: 30
|
| 107 |
+
rotate_speed: 0.005
|
| 108 |
+
save_path: /tmp/videos/
|
| 109 |
+
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep5/summary.json
ADDED
|
@@ -0,0 +1,36 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"adapter_mode": "trunk_only",
|
| 3 |
+
"task_name": "perlf_release_dual_push_buttons_smoke5",
|
| 4 |
+
"tasks": [
|
| 5 |
+
"dual_push_buttons"
|
| 6 |
+
],
|
| 7 |
+
"task_families": [
|
| 8 |
+
"generic"
|
| 9 |
+
],
|
| 10 |
+
"passthrough_only": true,
|
| 11 |
+
"passthrough_reason": "generic_task_family",
|
| 12 |
+
"episodes_requested": 5,
|
| 13 |
+
"episode_scores": [],
|
| 14 |
+
"mean_score": 0.0,
|
| 15 |
+
"final_score": null,
|
| 16 |
+
"subprocess_returncode": 1,
|
| 17 |
+
"eval_csv_path": "/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir/perlf_release_dual_push_buttons_smoke5/PERACT_BC/seed0/eval_data.csv",
|
| 18 |
+
"command": [
|
| 19 |
+
"/workspace/envs/rlbench/bin/python",
|
| 20 |
+
"/workspace/third_party/AnyBimanual/eval.py",
|
| 21 |
+
"method=PERACT_BC",
|
| 22 |
+
"framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5/anybimanual_logdir",
|
| 23 |
+
"framework.start_seed=0",
|
| 24 |
+
"framework.eval_type=60000",
|
| 25 |
+
"framework.eval_episodes=5",
|
| 26 |
+
"framework.eval_envs=1",
|
| 27 |
+
"framework.gpu=0",
|
| 28 |
+
"rlbench.task_name=perlf_release_dual_push_buttons_smoke5",
|
| 29 |
+
"rlbench.tasks=[dual_push_buttons]",
|
| 30 |
+
"rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
|
| 31 |
+
"rlbench.headless=True",
|
| 32 |
+
"rlbench.gripper_mode=BimanualDiscrete",
|
| 33 |
+
"rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
|
| 34 |
+
"rlbench.action_mode=BimanualMoveArmThenGripper"
|
| 35 |
+
]
|
| 36 |
+
}
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/config.yaml
ADDED
|
@@ -0,0 +1,139 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
ddp:
|
| 2 |
+
master_addr: localhost
|
| 3 |
+
master_port: 13985
|
| 4 |
+
num_devices: 2
|
| 5 |
+
rlbench:
|
| 6 |
+
task_name: perlf+ab
|
| 7 |
+
tasks:
|
| 8 |
+
- bimanual_pick_laptop
|
| 9 |
+
- bimanual_pick_plate
|
| 10 |
+
- bimanual_straighten_rope
|
| 11 |
+
- coordinated_lift_ball
|
| 12 |
+
- coordinated_lift_tray
|
| 13 |
+
- coordinated_push_box
|
| 14 |
+
- coordinated_put_bottle_in_fridge
|
| 15 |
+
- dual_push_buttons
|
| 16 |
+
- handover_item
|
| 17 |
+
- bimanual_sweep_to_dustpan
|
| 18 |
+
- coordinated_take_tray_out_of_oven
|
| 19 |
+
- handover_item_easy
|
| 20 |
+
demos: 100
|
| 21 |
+
demo_path: /mnt/disk_1/tengbo/bimanual_data/train
|
| 22 |
+
episode_length: 25
|
| 23 |
+
cameras:
|
| 24 |
+
- over_shoulder_right
|
| 25 |
+
- wrist_right
|
| 26 |
+
- front
|
| 27 |
+
- overhead
|
| 28 |
+
- over_shoulder_left
|
| 29 |
+
- wrist_left
|
| 30 |
+
camera_resolution:
|
| 31 |
+
- 256
|
| 32 |
+
- 256
|
| 33 |
+
scene_bounds:
|
| 34 |
+
- -0.3
|
| 35 |
+
- -0.5
|
| 36 |
+
- 0.6
|
| 37 |
+
- 0.7
|
| 38 |
+
- 0.5
|
| 39 |
+
- 1.6
|
| 40 |
+
include_lang_goal_in_obs: true
|
| 41 |
+
instructions: ''
|
| 42 |
+
replay:
|
| 43 |
+
batch_size: 2
|
| 44 |
+
timesteps: 1
|
| 45 |
+
prioritisation: false
|
| 46 |
+
task_uniform: true
|
| 47 |
+
use_disk: true
|
| 48 |
+
path: /mnt/disk_2/tengbo/replay/
|
| 49 |
+
max_parallel_processes: 32
|
| 50 |
+
task_folder: multi
|
| 51 |
+
framework:
|
| 52 |
+
log_freq: 1000
|
| 53 |
+
save_freq: 10000
|
| 54 |
+
train_envs: 1
|
| 55 |
+
replay_ratio: ${replay.batch_size}
|
| 56 |
+
transitions_before_train: 200
|
| 57 |
+
tensorboard_logging: true
|
| 58 |
+
csv_logging: true
|
| 59 |
+
training_iterations: 100001
|
| 60 |
+
gpu: 0
|
| 61 |
+
env_gpu: 0
|
| 62 |
+
logdir: /mnt/disk_1/tengbo/peract_bimanual/log
|
| 63 |
+
logging_level: 20
|
| 64 |
+
seeds: 1
|
| 65 |
+
start_seed: 0
|
| 66 |
+
load_existing_weights: false
|
| 67 |
+
num_weights_to_keep: 60
|
| 68 |
+
num_workers: 0
|
| 69 |
+
record_every_n: 5
|
| 70 |
+
checkpoint_name_prefix: checkpoint
|
| 71 |
+
use_wandb: true
|
| 72 |
+
wandb_project: ''
|
| 73 |
+
wandb_group: perlf+ab
|
| 74 |
+
seed: 0
|
| 75 |
+
wandb_name: perlf+ab
|
| 76 |
+
use_skill: true
|
| 77 |
+
use_pretrained: false
|
| 78 |
+
use_prefix: false
|
| 79 |
+
frozen: ''
|
| 80 |
+
anybimanual: true
|
| 81 |
+
augmentation_type: ab
|
| 82 |
+
method:
|
| 83 |
+
name: PERACT_BC
|
| 84 |
+
agent_type: leader_follower
|
| 85 |
+
robot_name: bimanual
|
| 86 |
+
image_crop_size: 64
|
| 87 |
+
bounds_offset:
|
| 88 |
+
- 0.15
|
| 89 |
+
voxel_sizes:
|
| 90 |
+
- 100
|
| 91 |
+
include_prev_layer: false
|
| 92 |
+
num_latents: 2048
|
| 93 |
+
latent_dim: 512
|
| 94 |
+
transformer_depth: 6
|
| 95 |
+
transformer_iterations: 1
|
| 96 |
+
cross_heads: 1
|
| 97 |
+
cross_dim_head: 64
|
| 98 |
+
latent_heads: 8
|
| 99 |
+
latent_dim_head: 64
|
| 100 |
+
pos_encoding_with_lang: true
|
| 101 |
+
conv_downsample: true
|
| 102 |
+
lang_fusion_type: seq
|
| 103 |
+
voxel_patch_size: 5
|
| 104 |
+
voxel_patch_stride: 5
|
| 105 |
+
final_dim: 64
|
| 106 |
+
low_dim_size: 4
|
| 107 |
+
input_dropout: 0.1
|
| 108 |
+
attn_dropout: 0.1
|
| 109 |
+
decoder_dropout: 0.0
|
| 110 |
+
lr: 0.0005
|
| 111 |
+
lr_scheduler: false
|
| 112 |
+
num_warmup_steps: 3000
|
| 113 |
+
optimizer: lamb
|
| 114 |
+
lambda_weight_l2: 1.0e-06
|
| 115 |
+
trans_loss_weight: 1.0
|
| 116 |
+
rot_loss_weight: 1.0
|
| 117 |
+
grip_loss_weight: 1.0
|
| 118 |
+
collision_loss_weight: 1.0
|
| 119 |
+
rotation_resolution: 5
|
| 120 |
+
activation: lrelu
|
| 121 |
+
norm: None
|
| 122 |
+
crop_augmentation: true
|
| 123 |
+
transform_augmentation:
|
| 124 |
+
apply_se3: true
|
| 125 |
+
aug_xyz:
|
| 126 |
+
- 0.125
|
| 127 |
+
- 0.125
|
| 128 |
+
- 0.125
|
| 129 |
+
aug_rpy:
|
| 130 |
+
- 0.0
|
| 131 |
+
- 0.0
|
| 132 |
+
- 45.0
|
| 133 |
+
aug_rot_resolution: ${method.rotation_resolution}
|
| 134 |
+
demo_augmentation: true
|
| 135 |
+
demo_augmentation_every_n: 10
|
| 136 |
+
no_skip_connection: false
|
| 137 |
+
no_perceiver: false
|
| 138 |
+
no_language: false
|
| 139 |
+
keypoint_method: heuristic
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv
ADDED
|
@@ -0,0 +1,2 @@
|
|
|
|
|
|
|
|
|
|
| 1 |
+
step,eval_envs/return,eval_envs/length,eval_envs/total_transitions
|
| 2 |
+
60000,40.0,17.6,88
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/command.txt
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
/workspace/envs/rlbench/bin/python /workspace/third_party/AnyBimanual/eval.py method=PERACT_BC framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir framework.start_seed=0 framework.eval_type=60000 framework.eval_episodes=5 framework.eval_envs=1 framework.gpu=0 rlbench.task_name=perlf_release_dual_push_buttons_smoke1 rlbench.tasks=[dual_push_buttons] rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root rlbench.headless=True rlbench.gripper_mode=BimanualDiscrete rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning rlbench.action_mode=BimanualMoveArmThenGripper
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/stderr.txt
ADDED
|
@@ -0,0 +1,35 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 2 |
+
The version_base parameter is not specified.
|
| 3 |
+
Please specify a compatability version level, or None.
|
| 4 |
+
Will assume defaults for version 1.1
|
| 5 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 6 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information
|
| 7 |
+
warnings.warn(msg, UserWarning)
|
| 8 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header '# @package _group_'.
|
| 9 |
+
See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information
|
| 10 |
+
deprecation_warning(
|
| 11 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default.
|
| 12 |
+
See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information.
|
| 13 |
+
ret = run_job(
|
| 14 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
| 15 |
+
from pkg_resources import parse_version
|
| 16 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 17 |
+
The version_base parameter is not specified.
|
| 18 |
+
Please specify a compatability version level, or None.
|
| 19 |
+
Will assume defaults for version 1.1
|
| 20 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 21 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 22 |
+
The version_base parameter is not specified.
|
| 23 |
+
Please specify a compatability version level, or None.
|
| 24 |
+
Will assume defaults for version 1.1
|
| 25 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 26 |
+
/workspace/envs/rlbench/lib/python3.10/site-packages/wandb/apis/public.py:3109: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
|
| 27 |
+
from pkg_resources import parse_version
|
| 28 |
+
/workspace/third_party/AnyBimanual/eval.py:183: UserWarning:
|
| 29 |
+
The version_base parameter is not specified.
|
| 30 |
+
Please specify a compatability version level, or None.
|
| 31 |
+
Will assume defaults for version 1.1
|
| 32 |
+
@hydra.main(config_name="eval", config_path="conf")
|
| 33 |
+
/workspace/third_party/YARR/yarr/utils/rollout_generator.py:73: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /opt/conda/conda-bld/pytorch_1716905979055/work/torch/csrc/utils/tensor_new.cpp:274.)
|
| 34 |
+
prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()}
|
| 35 |
+
[W CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors]
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/stdout.txt
ADDED
|
@@ -0,0 +1,167 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
[2026-04-01 00:39:26,439][root][INFO] -
|
| 2 |
+
method:
|
| 3 |
+
name: PERACT_BC
|
| 4 |
+
agent_type: leader_follower
|
| 5 |
+
robot_name: bimanual
|
| 6 |
+
image_crop_size: 64
|
| 7 |
+
bounds_offset:
|
| 8 |
+
- 0.15
|
| 9 |
+
voxel_sizes:
|
| 10 |
+
- 100
|
| 11 |
+
include_prev_layer: false
|
| 12 |
+
num_latents: 2048
|
| 13 |
+
latent_dim: 512
|
| 14 |
+
transformer_depth: 6
|
| 15 |
+
transformer_iterations: 1
|
| 16 |
+
cross_heads: 1
|
| 17 |
+
cross_dim_head: 64
|
| 18 |
+
latent_heads: 8
|
| 19 |
+
latent_dim_head: 64
|
| 20 |
+
pos_encoding_with_lang: true
|
| 21 |
+
conv_downsample: true
|
| 22 |
+
lang_fusion_type: seq
|
| 23 |
+
voxel_patch_size: 5
|
| 24 |
+
voxel_patch_stride: 5
|
| 25 |
+
final_dim: 64
|
| 26 |
+
low_dim_size: 4
|
| 27 |
+
input_dropout: 0.1
|
| 28 |
+
attn_dropout: 0.1
|
| 29 |
+
decoder_dropout: 0.0
|
| 30 |
+
lr: 0.0005
|
| 31 |
+
lr_scheduler: false
|
| 32 |
+
num_warmup_steps: 3000
|
| 33 |
+
optimizer: lamb
|
| 34 |
+
lambda_weight_l2: 1.0e-06
|
| 35 |
+
trans_loss_weight: 1.0
|
| 36 |
+
rot_loss_weight: 1.0
|
| 37 |
+
grip_loss_weight: 1.0
|
| 38 |
+
collision_loss_weight: 1.0
|
| 39 |
+
rotation_resolution: 5
|
| 40 |
+
activation: lrelu
|
| 41 |
+
norm: None
|
| 42 |
+
crop_augmentation: true
|
| 43 |
+
transform_augmentation:
|
| 44 |
+
apply_se3: true
|
| 45 |
+
aug_xyz:
|
| 46 |
+
- 0.125
|
| 47 |
+
- 0.125
|
| 48 |
+
- 0.125
|
| 49 |
+
aug_rpy:
|
| 50 |
+
- 0.0
|
| 51 |
+
- 0.0
|
| 52 |
+
- 45.0
|
| 53 |
+
aug_rot_resolution: ${method.rotation_resolution}
|
| 54 |
+
demo_augmentation: true
|
| 55 |
+
demo_augmentation_every_n: 10
|
| 56 |
+
no_skip_connection: false
|
| 57 |
+
no_perceiver: false
|
| 58 |
+
no_language: false
|
| 59 |
+
keypoint_method: heuristic
|
| 60 |
+
rlbench:
|
| 61 |
+
task_name: perlf_release_dual_push_buttons_smoke1
|
| 62 |
+
tasks:
|
| 63 |
+
- dual_push_buttons
|
| 64 |
+
demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root
|
| 65 |
+
episode_length: 25
|
| 66 |
+
cameras:
|
| 67 |
+
- over_shoulder_left
|
| 68 |
+
- over_shoulder_right
|
| 69 |
+
- overhead
|
| 70 |
+
- wrist_right
|
| 71 |
+
- wrist_left
|
| 72 |
+
- front
|
| 73 |
+
camera_resolution:
|
| 74 |
+
- 256
|
| 75 |
+
- 256
|
| 76 |
+
scene_bounds:
|
| 77 |
+
- -0.3
|
| 78 |
+
- -0.5
|
| 79 |
+
- 0.6
|
| 80 |
+
- 0.7
|
| 81 |
+
- 0.5
|
| 82 |
+
- 1.6
|
| 83 |
+
include_lang_goal_in_obs: true
|
| 84 |
+
time_in_state: true
|
| 85 |
+
headless: true
|
| 86 |
+
gripper_mode: BimanualDiscrete
|
| 87 |
+
arm_action_mode: BimanualEndEffectorPoseViaPlanning
|
| 88 |
+
action_mode: BimanualMoveArmThenGripper
|
| 89 |
+
framework:
|
| 90 |
+
tensorboard_logging: true
|
| 91 |
+
csv_logging: true
|
| 92 |
+
gpu: 0
|
| 93 |
+
logdir: /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir
|
| 94 |
+
start_seed: 0
|
| 95 |
+
record_every_n: 5
|
| 96 |
+
eval_envs: 1
|
| 97 |
+
eval_from_eps_number: 0
|
| 98 |
+
eval_episodes: 5
|
| 99 |
+
eval_type: 60000
|
| 100 |
+
eval_save_metrics: true
|
| 101 |
+
cinematic_recorder:
|
| 102 |
+
enabled: false
|
| 103 |
+
camera_resolution:
|
| 104 |
+
- 1280
|
| 105 |
+
- 720
|
| 106 |
+
fps: 30
|
| 107 |
+
rotate_speed: 0.005
|
| 108 |
+
save_path: /tmp/videos/
|
| 109 |
+
|
| 110 |
+
[2026-04-01 00:39:26,448][root][INFO] - Using env device cuda:0.
|
| 111 |
+
[2026-04-01 00:39:26,450][root][INFO] - Evaluating seed 0.
|
| 112 |
+
[2026-04-01 00:39:26,450][root][INFO] - Using method PERACT_BC with type leader_follower
|
| 113 |
+
Weight: [60000]
|
| 114 |
+
[04/01/26 00:39:48] INFO INFO:root:eval_env: _independent_env_runner.py:131
|
| 115 |
+
Launching env.
|
| 116 |
+
INFO INFO:root:Agent _independent_env_runner.py:134
|
| 117 |
+
information:
|
| 118 |
+
INFO INFO:root:<yarr.agen _independent_env_runner.py:135
|
| 119 |
+
ts.agent.LeaderFollo
|
| 120 |
+
werAgent object at
|
| 121 |
+
0x794220da7970>
|
| 122 |
+
[04/01/26 00:39:49] INFO INFO:root:Using dual panda robot environment.py:117
|
| 123 |
+
INFO INFO:root:Setting control arm_action_modes.py:79
|
| 124 |
+
mode for both robots
|
| 125 |
+
WARNING WARNING:root:not sure how task_environment.py:57
|
| 126 |
+
_robot_shapes are used is
|
| 127 |
+
used.
|
| 128 |
+
INFO INFO:root:Evaluating _independent_env_runner.py:165
|
| 129 |
+
weight 60000
|
| 130 |
+
loaded weights from /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt
|
| 131 |
+
loaded weights from /workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt
|
| 132 |
+
INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 133 |
+
Starting episode 0,
|
| 134 |
+
seed 0.
|
| 135 |
+
[04/01/26 00:40:19] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 136 |
+
left=2)
|
| 137 |
+
Evaluating bimanual_dual_push_buttons | Episode 0 | Score: 0.0 | Lang Goal: push the rose and the maroon buttons
|
| 138 |
+
[04/01/26 00:40:44] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 139 |
+
Starting episode 1,
|
| 140 |
+
seed 1.
|
| 141 |
+
[04/01/26 00:41:21] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 142 |
+
left=2)
|
| 143 |
+
Evaluating bimanual_dual_push_buttons | Episode 1 | Score: 100.0 | Lang Goal: push the black and the violet buttons
|
| 144 |
+
[04/01/26 00:41:29] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 145 |
+
Starting episode 2,
|
| 146 |
+
seed 2.
|
| 147 |
+
[04/01/26 00:42:02] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 148 |
+
left=2)
|
| 149 |
+
Evaluating bimanual_dual_push_buttons | Episode 2 | Score: 100.0 | Lang Goal: push the violet and the blue buttons
|
| 150 |
+
[04/01/26 00:42:10] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 151 |
+
Starting episode 3,
|
| 152 |
+
seed 3.
|
| 153 |
+
[04/01/26 00:42:41] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 154 |
+
left=2)
|
| 155 |
+
Evaluating bimanual_dual_push_buttons | Episode 3 | Score: 0.0 | Lang Goal: push the green and the violet buttons
|
| 156 |
+
[04/01/26 00:43:02] INFO INFO:root:eval_env: _independent_env_runner.py:192
|
| 157 |
+
Starting episode 4,
|
| 158 |
+
seed 4.
|
| 159 |
+
[04/01/26 00:43:40] INFO INFO:root:total waypoints 4, (right=2, task.py:368
|
| 160 |
+
left=2)
|
| 161 |
+
Evaluating bimanual_dual_push_buttons | Episode 4 | Score: 0.0 | Lang Goal: push the olive and the violet buttons
|
| 162 |
+
Finished bimanual_dual_push_buttons | Final Score: 40.0
|
| 163 |
+
|
| 164 |
+
moviepy is installed, but can't import moviepy.editor. Some packages could be missing [imageio, requests]
|
| 165 |
+
[04/01/26 00:44:10] INFO INFO:root:Finished _independent_env_runner.py:293
|
| 166 |
+
evaluation.
|
| 167 |
+
[CoppeliaSim:loadinfo] done.
|
reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/summary.json
ADDED
|
@@ -0,0 +1,42 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"adapter_mode": "trunk_only",
|
| 3 |
+
"task_name": "perlf_release_dual_push_buttons_smoke1",
|
| 4 |
+
"tasks": [
|
| 5 |
+
"dual_push_buttons"
|
| 6 |
+
],
|
| 7 |
+
"task_families": [
|
| 8 |
+
"generic"
|
| 9 |
+
],
|
| 10 |
+
"passthrough_only": true,
|
| 11 |
+
"passthrough_reason": "generic_task_family",
|
| 12 |
+
"episodes_requested": 5,
|
| 13 |
+
"episode_scores": [
|
| 14 |
+
0.0,
|
| 15 |
+
100.0,
|
| 16 |
+
100.0,
|
| 17 |
+
0.0,
|
| 18 |
+
0.0
|
| 19 |
+
],
|
| 20 |
+
"mean_score": 40.0,
|
| 21 |
+
"final_score": 40.0,
|
| 22 |
+
"subprocess_returncode": 0,
|
| 23 |
+
"eval_csv_path": "/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir/perlf_release_dual_push_buttons_smoke1/PERACT_BC/seed0/eval_data.csv",
|
| 24 |
+
"command": [
|
| 25 |
+
"/workspace/envs/rlbench/bin/python",
|
| 26 |
+
"/workspace/third_party/AnyBimanual/eval.py",
|
| 27 |
+
"method=PERACT_BC",
|
| 28 |
+
"framework.logdir=/workspace/workspace/reports/anybimanual_anchor_bridge_live/trunk_only_ep5_retry/anybimanual_logdir",
|
| 29 |
+
"framework.start_seed=0",
|
| 30 |
+
"framework.eval_type=60000",
|
| 31 |
+
"framework.eval_episodes=5",
|
| 32 |
+
"framework.eval_envs=1",
|
| 33 |
+
"framework.gpu=0",
|
| 34 |
+
"rlbench.task_name=perlf_release_dual_push_buttons_smoke1",
|
| 35 |
+
"rlbench.tasks=[dual_push_buttons]",
|
| 36 |
+
"rlbench.demo_path=/workspace/baselines/AnyBimanual_subset3_demo_root",
|
| 37 |
+
"rlbench.headless=True",
|
| 38 |
+
"rlbench.gripper_mode=BimanualDiscrete",
|
| 39 |
+
"rlbench.arm_action_mode=BimanualEndEffectorPoseViaPlanning",
|
| 40 |
+
"rlbench.action_mode=BimanualMoveArmThenGripper"
|
| 41 |
+
]
|
| 42 |
+
}
|
reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/workspace/VLAarchtests2/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 5,
|
| 11 |
+
"episode_length": 60,
|
| 12 |
+
"resolution": 256,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"arm_mode": "planning",
|
| 15 |
+
"delta_scale": 1.0,
|
| 16 |
+
"cameras": [
|
| 17 |
+
"front",
|
| 18 |
+
"wrist_left",
|
| 19 |
+
"wrist_right"
|
| 20 |
+
],
|
| 21 |
+
"tasks": {
|
| 22 |
+
"bimanual_dual_push_buttons": {
|
| 23 |
+
"error": "The call failed on the V-REP side. Return value: -1",
|
| 24 |
+
"mean_success": 0.0,
|
| 25 |
+
"mean_return": 0.0
|
| 26 |
+
}
|
| 27 |
+
},
|
| 28 |
+
"mean_success": 0.0
|
| 29 |
+
}
|
reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.md
ADDED
|
@@ -0,0 +1,14 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# RLBench Rollout Eval
|
| 2 |
+
|
| 3 |
+
- Checkpoint: `/workspace/workspace/VLAarchtests2/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt`
|
| 4 |
+
- Plan requested: `False`
|
| 5 |
+
- Plan applied: `False`
|
| 6 |
+
- Support-mode conditioning: `True`
|
| 7 |
+
- Task conditioning: `True`
|
| 8 |
+
- Geometry enabled: `True`
|
| 9 |
+
- World-model mode: `checkpoint_default`
|
| 10 |
+
- Mean success: `0.000`
|
| 11 |
+
|
| 12 |
+
## Per-task
|
| 13 |
+
|
| 14 |
+
- `bimanual_dual_push_buttons`: error=The call failed on the V-REP side. Return value: -1
|
reports/dual_push_same_trunk_parity_ep5/base_trunk/rollout_eval.partial.json
ADDED
|
@@ -0,0 +1,29 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"checkpoint": "/workspace/workspace/VLAarchtests2/outputs/rlbench_dual_push/rlbench_dual_push_backbone_only_clip_chunk8_weighted_seed17/checkpoint_best.pt",
|
| 3 |
+
"plan_requested": false,
|
| 4 |
+
"plan_applied": false,
|
| 5 |
+
"planner_mode": "trainable",
|
| 6 |
+
"support_mode_conditioning": true,
|
| 7 |
+
"task_conditioning": true,
|
| 8 |
+
"geometry_enabled": true,
|
| 9 |
+
"world_model_mode": "checkpoint_default",
|
| 10 |
+
"episodes_per_task": 5,
|
| 11 |
+
"episode_length": 60,
|
| 12 |
+
"resolution": 256,
|
| 13 |
+
"reset_retries": 20,
|
| 14 |
+
"arm_mode": "planning",
|
| 15 |
+
"delta_scale": 1.0,
|
| 16 |
+
"cameras": [
|
| 17 |
+
"front",
|
| 18 |
+
"wrist_left",
|
| 19 |
+
"wrist_right"
|
| 20 |
+
],
|
| 21 |
+
"tasks": {
|
| 22 |
+
"bimanual_dual_push_buttons": {
|
| 23 |
+
"error": "The call failed on the V-REP side. Return value: -1",
|
| 24 |
+
"mean_success": 0.0,
|
| 25 |
+
"mean_return": 0.0
|
| 26 |
+
}
|
| 27 |
+
},
|
| 28 |
+
"mean_success": 0.0
|
| 29 |
+
}
|
reports/maniskill_bag_bridge_eval_less_bonus_seed23/public_benchmark_package_summary.md
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# ManiSkill Bag Retrieval Smoke Summary
|
| 2 |
+
|
| 3 |
+
- benchmark_task: PutEggplantInBasketRetrievalProxy-v1
|
| 4 |
+
- target_macro_average_delta: 0.000
|
| 5 |
+
- headline_pass: False
|
| 6 |
+
- sign_of_life_pass: False
|
| 7 |
+
|
| 8 |
+
## bag_track
|
| 9 |
+
- delta_active_vs_trunk: 0.000
|
| 10 |
+
- delta_noop_vs_trunk: -0.400
|
| 11 |
+
- signs_of_life: False
|
| 12 |
+
- delta_active_vs_trunk_ci95: [-0.180, 0.200]
|
| 13 |
+
- trunk_only_ft: mean_success=0.480
|
| 14 |
+
- adapter_noop: mean_success=0.080
|
| 15 |
+
- adapter_active_ft: mean_success=0.480
|
reports/maniskill_bag_bridge_smoke_v1/adapter_active_ft_seed17.json
ADDED
|
@@ -0,0 +1,509 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
|
|
|
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|
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|
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|
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|
| 467 |
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],
|
| 468 |
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"eval_protocol": {
|
| 469 |
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"track_id": "bag_track",
|
| 470 |
+
"suite": "maniskill3",
|
| 471 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 472 |
+
"role": "target",
|
| 473 |
+
"eval_mode": "adapter_active_ft",
|
| 474 |
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"seed": 17,
|
| 475 |
+
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|
| 476 |
+
"resolution": 224,
|
| 477 |
+
"cameras": [
|
| 478 |
+
"front",
|
| 479 |
+
"left",
|
| 480 |
+
"right"
|
| 481 |
+
],
|
| 482 |
+
"observation_stack": "rgb_triplicate_zero_depth",
|
| 483 |
+
"action_horizon": 8,
|
| 484 |
+
"action_space": "widowx_delta_pose",
|
| 485 |
+
"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 488 |
+
"train_spec": {
|
| 489 |
+
"track_id": "bag_track",
|
| 490 |
+
"suite": "maniskill3",
|
| 491 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 492 |
+
"model_variant": "adapter_active_ft",
|
| 493 |
+
"seed": 17,
|
| 494 |
+
"train_demos": 32,
|
| 495 |
+
"val_demos": 8,
|
| 496 |
+
"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 497 |
+
"optimizer": "adamw",
|
| 498 |
+
"learning_rate": 0.0001,
|
| 499 |
+
"lr_schedule": "constant",
|
| 500 |
+
"batch_size": 4,
|
| 501 |
+
"augmentations": "none",
|
| 502 |
+
"early_stopping_metric": "val_total",
|
| 503 |
+
"max_gradient_steps": 114,
|
| 504 |
+
"unfreeze_scope": "fusion_memory_decoder",
|
| 505 |
+
"dataset_split_id": "bag_bridge_smoke_v1_seed17",
|
| 506 |
+
"same_data_policy": true,
|
| 507 |
+
"same_init_policy": true
|
| 508 |
+
}
|
| 509 |
+
}
|
reports/maniskill_bag_bridge_smoke_v1/adapter_active_ft_seed23.json
ADDED
|
@@ -0,0 +1,509 @@
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|
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|
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|
| 468 |
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|
| 469 |
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|
| 470 |
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"suite": "maniskill3",
|
| 471 |
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"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 472 |
+
"role": "target",
|
| 473 |
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"eval_mode": "adapter_active_ft",
|
| 474 |
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"seed": 17,
|
| 475 |
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|
| 476 |
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|
| 477 |
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"cameras": [
|
| 478 |
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"front",
|
| 479 |
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"left",
|
| 480 |
+
"right"
|
| 481 |
+
],
|
| 482 |
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"observation_stack": "rgb_triplicate_zero_depth",
|
| 483 |
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|
| 484 |
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"action_space": "widowx_delta_pose",
|
| 485 |
+
"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 488 |
+
"train_spec": {
|
| 489 |
+
"track_id": "bag_track",
|
| 490 |
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"suite": "maniskill3",
|
| 491 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 492 |
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|
| 493 |
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"seed": 23,
|
| 494 |
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|
| 495 |
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|
| 496 |
+
"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 497 |
+
"optimizer": "adamw",
|
| 498 |
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"learning_rate": 0.0001,
|
| 499 |
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"lr_schedule": "constant",
|
| 500 |
+
"batch_size": 4,
|
| 501 |
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"augmentations": "none",
|
| 502 |
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"early_stopping_metric": "val_total",
|
| 503 |
+
"max_gradient_steps": 114,
|
| 504 |
+
"unfreeze_scope": "fusion_memory_decoder",
|
| 505 |
+
"dataset_split_id": "bag_bridge_smoke_v1_dataset_seed17",
|
| 506 |
+
"same_data_policy": true,
|
| 507 |
+
"same_init_policy": true
|
| 508 |
+
}
|
| 509 |
+
}
|
reports/maniskill_bag_bridge_smoke_v1/adapter_noop_seed17.json
ADDED
|
@@ -0,0 +1,488 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"track_id": "bag_track",
|
| 3 |
+
"suite": "maniskill3",
|
| 4 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 5 |
+
"role": "target",
|
| 6 |
+
"adapter_mode": "adapter_noop",
|
| 7 |
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|
| 8 |
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|
| 464 |
+
"first_retrieve_step": null,
|
| 465 |
+
"episode_disturbance": 0.0
|
| 466 |
+
}
|
| 467 |
+
],
|
| 468 |
+
"eval_protocol": {
|
| 469 |
+
"track_id": "bag_track",
|
| 470 |
+
"suite": "maniskill3",
|
| 471 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 472 |
+
"role": "target",
|
| 473 |
+
"eval_mode": "adapter_noop",
|
| 474 |
+
"seed": 17,
|
| 475 |
+
"episodes": 50,
|
| 476 |
+
"resolution": 224,
|
| 477 |
+
"cameras": [
|
| 478 |
+
"front",
|
| 479 |
+
"left",
|
| 480 |
+
"right"
|
| 481 |
+
],
|
| 482 |
+
"observation_stack": "rgb_triplicate_zero_depth",
|
| 483 |
+
"action_horizon": 8,
|
| 484 |
+
"action_space": "widowx_delta_pose",
|
| 485 |
+
"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone."
|
| 488 |
+
}
|
reports/maniskill_bag_bridge_smoke_v1/adapter_noop_seed23.json
ADDED
|
@@ -0,0 +1,488 @@
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|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"track_id": "bag_track",
|
| 3 |
+
"suite": "maniskill3",
|
| 4 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 5 |
+
"role": "target",
|
| 6 |
+
"adapter_mode": "adapter_noop",
|
| 7 |
+
"episodes": 50,
|
| 8 |
+
"successes": [
|
| 9 |
+
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|
| 10 |
+
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|
| 11 |
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0,
|
| 12 |
+
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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|
| 22 |
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|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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|
| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
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|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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"non_base_selection_rate": 0.0,
|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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{
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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{
|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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{
|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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},
|
| 99 |
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{
|
| 100 |
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"episode_seed": 172004,
|
| 101 |
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"success": false,
|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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},
|
| 107 |
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{
|
| 108 |
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"episode_seed": 172005,
|
| 109 |
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"success": false,
|
| 110 |
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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},
|
| 115 |
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{
|
| 116 |
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"episode_seed": 172006,
|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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|
| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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{
|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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|
| 149 |
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|
| 150 |
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|
| 151 |
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|
| 152 |
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|
| 153 |
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|
| 154 |
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|
| 155 |
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{
|
| 156 |
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"episode_seed": 172011,
|
| 157 |
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|
| 158 |
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|
| 159 |
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|
| 160 |
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|
| 161 |
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|
| 162 |
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},
|
| 163 |
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{
|
| 164 |
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"episode_seed": 172012,
|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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},
|
| 171 |
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{
|
| 172 |
+
"episode_seed": 172013,
|
| 173 |
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| 468 |
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|
| 469 |
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|
| 470 |
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|
| 471 |
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|
| 472 |
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"role": "target",
|
| 473 |
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"eval_mode": "adapter_noop",
|
| 474 |
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"seed": 17,
|
| 475 |
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|
| 476 |
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|
| 477 |
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"cameras": [
|
| 478 |
+
"front",
|
| 479 |
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"left",
|
| 480 |
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"right"
|
| 481 |
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],
|
| 482 |
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"observation_stack": "rgb_triplicate_zero_depth",
|
| 483 |
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"action_horizon": 8,
|
| 484 |
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"action_space": "widowx_delta_pose",
|
| 485 |
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"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone."
|
| 488 |
+
}
|
reports/maniskill_bag_bridge_smoke_v1/public_benchmark_package_summary.json
ADDED
|
@@ -0,0 +1,60 @@
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"anchor_pass": true,
|
| 3 |
+
"available_tracks": [
|
| 4 |
+
"bag_track"
|
| 5 |
+
],
|
| 6 |
+
"ci_above_zero_tracks": [],
|
| 7 |
+
"headline_pass": false,
|
| 8 |
+
"package_name": "public_reveal_retrieve_package_v1",
|
| 9 |
+
"sign_of_life_pass": false,
|
| 10 |
+
"sign_of_life_track_count": 0,
|
| 11 |
+
"sign_of_life_tracks": [],
|
| 12 |
+
"target_macro_average_delta": -0.47999998927116394,
|
| 13 |
+
"tracks": {
|
| 14 |
+
"bag_track": {
|
| 15 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 16 |
+
"delta_active_vs_trunk": -0.47999998927116394,
|
| 17 |
+
"delta_active_vs_trunk_ci95": [
|
| 18 |
+
-0.6200000047683716,
|
| 19 |
+
-0.3400000035762787
|
| 20 |
+
],
|
| 21 |
+
"delta_noop_vs_trunk": -0.3999999910593033,
|
| 22 |
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"modes": {
|
| 23 |
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|
| 24 |
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|
| 25 |
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"intervention_rate": 1.0,
|
| 26 |
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"mean_success": 0.0,
|
| 27 |
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"non_base_selection_rate": 1.0,
|
| 28 |
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"num_runs": 1,
|
| 29 |
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|
| 30 |
+
"steps_to_retrieve": 4.0
|
| 31 |
+
},
|
| 32 |
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"adapter_noop": {
|
| 33 |
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|
| 34 |
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"intervention_rate": 0.0,
|
| 35 |
+
"mean_success": 0.07999999821186066,
|
| 36 |
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|
| 37 |
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"num_runs": 1,
|
| 38 |
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|
| 39 |
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"steps_to_retrieve": 4.0
|
| 40 |
+
},
|
| 41 |
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"trunk_only_ft": {
|
| 42 |
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"disturbance_proxy": 0.0,
|
| 43 |
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"intervention_rate": 0.0,
|
| 44 |
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"mean_success": 0.47999998927116394,
|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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"steps_to_retrieve": 4.0
|
| 49 |
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}
|
| 50 |
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},
|
| 51 |
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"notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 52 |
+
"public_source": "ManiSkill public scene proxy: PutEggplantInBasketScene-v1",
|
| 53 |
+
"role": "target",
|
| 54 |
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"signs_of_life": false,
|
| 55 |
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"suite": "maniskill3",
|
| 56 |
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"target_behavior": "retrieve the target object from inside the basket and stage it outside the basket",
|
| 57 |
+
"task_family": "bag_retrieval_proxy"
|
| 58 |
+
}
|
| 59 |
+
}
|
| 60 |
+
}
|
reports/maniskill_bag_bridge_smoke_v1/public_benchmark_package_summary.md
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
| 1 |
+
# ManiSkill Bag Retrieval Smoke Summary
|
| 2 |
+
|
| 3 |
+
- benchmark_task: PutEggplantInBasketRetrievalProxy-v1
|
| 4 |
+
- target_macro_average_delta: -0.480
|
| 5 |
+
- headline_pass: False
|
| 6 |
+
- sign_of_life_pass: False
|
| 7 |
+
|
| 8 |
+
## bag_track
|
| 9 |
+
- delta_active_vs_trunk: -0.480
|
| 10 |
+
- delta_noop_vs_trunk: -0.400
|
| 11 |
+
- signs_of_life: False
|
| 12 |
+
- delta_active_vs_trunk_ci95: [-0.620, -0.340]
|
| 13 |
+
- trunk_only_ft: mean_success=0.480
|
| 14 |
+
- adapter_noop: mean_success=0.080
|
| 15 |
+
- adapter_active_ft: mean_success=0.000
|
reports/maniskill_bag_bridge_smoke_v1/trunk_only_ft_seed17.json
ADDED
|
@@ -0,0 +1,509 @@
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"track_id": "bag_track",
|
| 3 |
+
"suite": "maniskill3",
|
| 4 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 5 |
+
"role": "target",
|
| 6 |
+
"adapter_mode": "trunk_only_ft",
|
| 7 |
+
"episodes": 50,
|
| 8 |
+
"successes": [
|
| 9 |
+
0,
|
| 10 |
+
0,
|
| 11 |
+
0,
|
| 12 |
+
1,
|
| 13 |
+
0,
|
| 14 |
+
0,
|
| 15 |
+
0,
|
| 16 |
+
0,
|
| 17 |
+
0,
|
| 18 |
+
1,
|
| 19 |
+
1,
|
| 20 |
+
0,
|
| 21 |
+
0,
|
| 22 |
+
1,
|
| 23 |
+
0,
|
| 24 |
+
0,
|
| 25 |
+
0,
|
| 26 |
+
0,
|
| 27 |
+
0,
|
| 28 |
+
0,
|
| 29 |
+
0,
|
| 30 |
+
0,
|
| 31 |
+
0,
|
| 32 |
+
0,
|
| 33 |
+
1,
|
| 34 |
+
1,
|
| 35 |
+
0,
|
| 36 |
+
0,
|
| 37 |
+
0,
|
| 38 |
+
0,
|
| 39 |
+
0,
|
| 40 |
+
1,
|
| 41 |
+
1,
|
| 42 |
+
1,
|
| 43 |
+
0,
|
| 44 |
+
0,
|
| 45 |
+
0,
|
| 46 |
+
1,
|
| 47 |
+
0,
|
| 48 |
+
0,
|
| 49 |
+
0,
|
| 50 |
+
1,
|
| 51 |
+
0,
|
| 52 |
+
0,
|
| 53 |
+
1,
|
| 54 |
+
1,
|
| 55 |
+
1,
|
| 56 |
+
1,
|
| 57 |
+
1,
|
| 58 |
+
0
|
| 59 |
+
],
|
| 60 |
+
"success_rate": 0.32,
|
| 61 |
+
"intervention_rate": 0.0,
|
| 62 |
+
"non_base_selection_rate": 0.0,
|
| 63 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 64 |
+
"steps_to_retrieve": 4.0,
|
| 65 |
+
"disturbance_proxy": 0.0,
|
| 66 |
+
"episode_records": [
|
| 67 |
+
{
|
| 68 |
+
"episode_seed": 172000,
|
| 69 |
+
"success": false,
|
| 70 |
+
"steps": 4,
|
| 71 |
+
"first_reveal_step": 1,
|
| 72 |
+
"first_retrieve_step": null,
|
| 73 |
+
"episode_disturbance": 0.0
|
| 74 |
+
},
|
| 75 |
+
{
|
| 76 |
+
"episode_seed": 172001,
|
| 77 |
+
"success": false,
|
| 78 |
+
"steps": 4,
|
| 79 |
+
"first_reveal_step": 1,
|
| 80 |
+
"first_retrieve_step": null,
|
| 81 |
+
"episode_disturbance": 0.0
|
| 82 |
+
},
|
| 83 |
+
{
|
| 84 |
+
"episode_seed": 172002,
|
| 85 |
+
"success": false,
|
| 86 |
+
"steps": 4,
|
| 87 |
+
"first_reveal_step": 1,
|
| 88 |
+
"first_retrieve_step": null,
|
| 89 |
+
"episode_disturbance": 0.0
|
| 90 |
+
},
|
| 91 |
+
{
|
| 92 |
+
"episode_seed": 172003,
|
| 93 |
+
"success": true,
|
| 94 |
+
"steps": 1,
|
| 95 |
+
"first_reveal_step": 1,
|
| 96 |
+
"first_retrieve_step": null,
|
| 97 |
+
"episode_disturbance": 0.0
|
| 98 |
+
},
|
| 99 |
+
{
|
| 100 |
+
"episode_seed": 172004,
|
| 101 |
+
"success": false,
|
| 102 |
+
"steps": 4,
|
| 103 |
+
"first_reveal_step": 1,
|
| 104 |
+
"first_retrieve_step": null,
|
| 105 |
+
"episode_disturbance": 0.0
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"episode_seed": 172005,
|
| 109 |
+
"success": false,
|
| 110 |
+
"steps": 4,
|
| 111 |
+
"first_reveal_step": 1,
|
| 112 |
+
"first_retrieve_step": null,
|
| 113 |
+
"episode_disturbance": 0.0
|
| 114 |
+
},
|
| 115 |
+
{
|
| 116 |
+
"episode_seed": 172006,
|
| 117 |
+
"success": false,
|
| 118 |
+
"steps": 4,
|
| 119 |
+
"first_reveal_step": 1,
|
| 120 |
+
"first_retrieve_step": null,
|
| 121 |
+
"episode_disturbance": 0.0
|
| 122 |
+
},
|
| 123 |
+
{
|
| 124 |
+
"episode_seed": 172007,
|
| 125 |
+
"success": false,
|
| 126 |
+
"steps": 4,
|
| 127 |
+
"first_reveal_step": 1,
|
| 128 |
+
"first_retrieve_step": null,
|
| 129 |
+
"episode_disturbance": 0.0
|
| 130 |
+
},
|
| 131 |
+
{
|
| 132 |
+
"episode_seed": 172008,
|
| 133 |
+
"success": false,
|
| 134 |
+
"steps": 4,
|
| 135 |
+
"first_reveal_step": 1,
|
| 136 |
+
"first_retrieve_step": null,
|
| 137 |
+
"episode_disturbance": 0.0
|
| 138 |
+
},
|
| 139 |
+
{
|
| 140 |
+
"episode_seed": 172009,
|
| 141 |
+
"success": true,
|
| 142 |
+
"steps": 1,
|
| 143 |
+
"first_reveal_step": 1,
|
| 144 |
+
"first_retrieve_step": null,
|
| 145 |
+
"episode_disturbance": 0.0
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"episode_seed": 172010,
|
| 149 |
+
"success": true,
|
| 150 |
+
"steps": 1,
|
| 151 |
+
"first_reveal_step": 1,
|
| 152 |
+
"first_retrieve_step": null,
|
| 153 |
+
"episode_disturbance": 0.0
|
| 154 |
+
},
|
| 155 |
+
{
|
| 156 |
+
"episode_seed": 172011,
|
| 157 |
+
"success": false,
|
| 158 |
+
"steps": 4,
|
| 159 |
+
"first_reveal_step": 1,
|
| 160 |
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|
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|
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|
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|
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|
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|
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|
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|
| 478 |
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|
| 479 |
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|
| 480 |
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"right"
|
| 481 |
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|
| 482 |
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|
| 484 |
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|
| 485 |
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|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 488 |
+
"train_spec": {
|
| 489 |
+
"track_id": "bag_track",
|
| 490 |
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|
| 491 |
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|
| 492 |
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|
| 493 |
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|
| 494 |
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|
| 495 |
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|
| 496 |
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"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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|
| 501 |
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|
| 502 |
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|
| 503 |
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|
| 504 |
+
"unfreeze_scope": "fusion_memory_decoder",
|
| 505 |
+
"dataset_split_id": "bag_bridge_smoke_v1_seed17",
|
| 506 |
+
"same_data_policy": true,
|
| 507 |
+
"same_init_policy": true
|
| 508 |
+
}
|
| 509 |
+
}
|
reports/maniskill_bag_bridge_smoke_v1/trunk_only_ft_seed23.json
ADDED
|
@@ -0,0 +1,509 @@
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|
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|
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|
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|
| 334 |
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|
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| 336 |
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| 339 |
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| 340 |
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|
| 341 |
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|
| 342 |
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|
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|
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|
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|
| 347 |
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{
|
| 348 |
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|
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| 355 |
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{
|
| 356 |
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|
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|
| 358 |
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|
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|
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|
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|
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{
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| 364 |
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|
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|
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|
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|
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},
|
| 371 |
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{
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| 372 |
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"episode_seed": 172038,
|
| 373 |
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|
| 374 |
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|
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|
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| 379 |
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{
|
| 380 |
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"episode_seed": 172039,
|
| 381 |
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|
| 382 |
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|
| 383 |
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|
| 384 |
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|
| 385 |
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|
| 386 |
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},
|
| 387 |
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{
|
| 388 |
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"episode_seed": 172040,
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| 389 |
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|
| 390 |
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|
| 391 |
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|
| 392 |
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|
| 393 |
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|
| 394 |
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},
|
| 395 |
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{
|
| 396 |
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"episode_seed": 172041,
|
| 397 |
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"success": false,
|
| 398 |
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"steps": 4,
|
| 399 |
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|
| 400 |
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|
| 401 |
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|
| 402 |
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},
|
| 403 |
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{
|
| 404 |
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"episode_seed": 172042,
|
| 405 |
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|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
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|
| 410 |
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},
|
| 411 |
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{
|
| 412 |
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"episode_seed": 172043,
|
| 413 |
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"success": false,
|
| 414 |
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|
| 415 |
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|
| 416 |
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|
| 417 |
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"episode_disturbance": 0.0
|
| 418 |
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},
|
| 419 |
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{
|
| 420 |
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"episode_seed": 172044,
|
| 421 |
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"success": true,
|
| 422 |
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"steps": 1,
|
| 423 |
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|
| 424 |
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"first_retrieve_step": null,
|
| 425 |
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"episode_disturbance": 0.0
|
| 426 |
+
},
|
| 427 |
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{
|
| 428 |
+
"episode_seed": 172045,
|
| 429 |
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"success": false,
|
| 430 |
+
"steps": 4,
|
| 431 |
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"first_reveal_step": 1,
|
| 432 |
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|
| 433 |
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"episode_disturbance": 0.0
|
| 434 |
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},
|
| 435 |
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{
|
| 436 |
+
"episode_seed": 172046,
|
| 437 |
+
"success": false,
|
| 438 |
+
"steps": 4,
|
| 439 |
+
"first_reveal_step": 1,
|
| 440 |
+
"first_retrieve_step": null,
|
| 441 |
+
"episode_disturbance": 0.0
|
| 442 |
+
},
|
| 443 |
+
{
|
| 444 |
+
"episode_seed": 172047,
|
| 445 |
+
"success": true,
|
| 446 |
+
"steps": 1,
|
| 447 |
+
"first_reveal_step": 1,
|
| 448 |
+
"first_retrieve_step": null,
|
| 449 |
+
"episode_disturbance": 0.0
|
| 450 |
+
},
|
| 451 |
+
{
|
| 452 |
+
"episode_seed": 172048,
|
| 453 |
+
"success": false,
|
| 454 |
+
"steps": 4,
|
| 455 |
+
"first_reveal_step": 1,
|
| 456 |
+
"first_retrieve_step": null,
|
| 457 |
+
"episode_disturbance": 0.0
|
| 458 |
+
},
|
| 459 |
+
{
|
| 460 |
+
"episode_seed": 172049,
|
| 461 |
+
"success": false,
|
| 462 |
+
"steps": 4,
|
| 463 |
+
"first_reveal_step": 1,
|
| 464 |
+
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|
| 465 |
+
"episode_disturbance": 0.0
|
| 466 |
+
}
|
| 467 |
+
],
|
| 468 |
+
"eval_protocol": {
|
| 469 |
+
"track_id": "bag_track",
|
| 470 |
+
"suite": "maniskill3",
|
| 471 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 472 |
+
"role": "target",
|
| 473 |
+
"eval_mode": "trunk_only_ft",
|
| 474 |
+
"seed": 17,
|
| 475 |
+
"episodes": 50,
|
| 476 |
+
"resolution": 224,
|
| 477 |
+
"cameras": [
|
| 478 |
+
"front",
|
| 479 |
+
"left",
|
| 480 |
+
"right"
|
| 481 |
+
],
|
| 482 |
+
"observation_stack": "rgb_triplicate_zero_depth",
|
| 483 |
+
"action_horizon": 8,
|
| 484 |
+
"action_space": "widowx_delta_pose",
|
| 485 |
+
"same_test_episodes": true
|
| 486 |
+
},
|
| 487 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 488 |
+
"train_spec": {
|
| 489 |
+
"track_id": "bag_track",
|
| 490 |
+
"suite": "maniskill3",
|
| 491 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 492 |
+
"model_variant": "trunk_only_ft",
|
| 493 |
+
"seed": 23,
|
| 494 |
+
"train_demos": 32,
|
| 495 |
+
"val_demos": 8,
|
| 496 |
+
"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 497 |
+
"optimizer": "adamw",
|
| 498 |
+
"learning_rate": 0.0001,
|
| 499 |
+
"lr_schedule": "constant",
|
| 500 |
+
"batch_size": 4,
|
| 501 |
+
"augmentations": "none",
|
| 502 |
+
"early_stopping_metric": "val_total",
|
| 503 |
+
"max_gradient_steps": 114,
|
| 504 |
+
"unfreeze_scope": "fusion_memory_decoder",
|
| 505 |
+
"dataset_split_id": "bag_bridge_smoke_v1_dataset_seed17",
|
| 506 |
+
"same_data_policy": true,
|
| 507 |
+
"same_init_policy": true
|
| 508 |
+
}
|
| 509 |
+
}
|
reports/maniskill_bag_bridge_val_sweep_seed23/conservative/public_benchmark_package_summary.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"anchor_pass": true,
|
| 3 |
+
"available_tracks": [
|
| 4 |
+
"bag_track"
|
| 5 |
+
],
|
| 6 |
+
"ci_above_zero_tracks": [],
|
| 7 |
+
"headline_pass": false,
|
| 8 |
+
"package_name": "public_reveal_retrieve_package_v1",
|
| 9 |
+
"sign_of_life_pass": false,
|
| 10 |
+
"sign_of_life_track_count": 0,
|
| 11 |
+
"sign_of_life_tracks": [],
|
| 12 |
+
"target_macro_average_delta": 0.0,
|
| 13 |
+
"tracks": {
|
| 14 |
+
"bag_track": {
|
| 15 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 16 |
+
"delta_active_vs_trunk": 0.0,
|
| 17 |
+
"delta_active_vs_trunk_ci95": [
|
| 18 |
+
-0.375,
|
| 19 |
+
0.375
|
| 20 |
+
],
|
| 21 |
+
"delta_noop_vs_trunk": 0.0,
|
| 22 |
+
"modes": {
|
| 23 |
+
"adapter_active_ft": {
|
| 24 |
+
"disturbance_proxy": 0.0,
|
| 25 |
+
"intervention_rate": 0.0,
|
| 26 |
+
"mean_success": 0.125,
|
| 27 |
+
"non_base_selection_rate": 0.0,
|
| 28 |
+
"num_runs": 1,
|
| 29 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 30 |
+
"steps_to_retrieve": 4.0
|
| 31 |
+
},
|
| 32 |
+
"adapter_noop": {
|
| 33 |
+
"disturbance_proxy": 0.0,
|
| 34 |
+
"intervention_rate": 0.0,
|
| 35 |
+
"mean_success": 0.125,
|
| 36 |
+
"non_base_selection_rate": 0.0,
|
| 37 |
+
"num_runs": 1,
|
| 38 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 39 |
+
"steps_to_retrieve": 4.0
|
| 40 |
+
},
|
| 41 |
+
"trunk_only_ft": {
|
| 42 |
+
"disturbance_proxy": 0.0,
|
| 43 |
+
"intervention_rate": 0.0,
|
| 44 |
+
"mean_success": 0.125,
|
| 45 |
+
"non_base_selection_rate": 0.0,
|
| 46 |
+
"num_runs": 1,
|
| 47 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 48 |
+
"steps_to_retrieve": 4.0
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 52 |
+
"public_source": "ManiSkill public scene proxy: PutEggplantInBasketScene-v1",
|
| 53 |
+
"role": "target",
|
| 54 |
+
"signs_of_life": false,
|
| 55 |
+
"suite": "maniskill3",
|
| 56 |
+
"target_behavior": "retrieve the target object from inside the basket and stage it outside the basket",
|
| 57 |
+
"task_family": "bag_retrieval_proxy"
|
| 58 |
+
}
|
| 59 |
+
}
|
| 60 |
+
}
|
reports/maniskill_bag_bridge_val_sweep_seed23/conservative/public_benchmark_package_summary.md
ADDED
|
@@ -0,0 +1,15 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# ManiSkill Bag Retrieval Smoke Summary
|
| 2 |
+
|
| 3 |
+
- benchmark_task: PutEggplantInBasketRetrievalProxy-v1
|
| 4 |
+
- target_macro_average_delta: 0.000
|
| 5 |
+
- headline_pass: False
|
| 6 |
+
- sign_of_life_pass: False
|
| 7 |
+
|
| 8 |
+
## bag_track
|
| 9 |
+
- delta_active_vs_trunk: 0.000
|
| 10 |
+
- delta_noop_vs_trunk: 0.000
|
| 11 |
+
- signs_of_life: False
|
| 12 |
+
- delta_active_vs_trunk_ci95: [-0.375, 0.375]
|
| 13 |
+
- trunk_only_ft: mean_success=0.125
|
| 14 |
+
- adapter_noop: mean_success=0.125
|
| 15 |
+
- adapter_active_ft: mean_success=0.125
|
reports/maniskill_bag_bridge_val_sweep_seed23/conservative/trunk_only_ft_seed23.json
ADDED
|
@@ -0,0 +1,131 @@
|
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
| 99 |
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|
| 100 |
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|
| 101 |
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"left",
|
| 102 |
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"right"
|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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"track_id": "bag_track",
|
| 112 |
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"suite": "maniskill3",
|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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| 124 |
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|
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| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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}
|
| 131 |
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}
|
reports/maniskill_bag_bridge_val_sweep_seed23/less_bonus/adapter_active_ft_seed23.json
ADDED
|
@@ -0,0 +1,131 @@
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|
| 1 |
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|
| 2 |
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|
| 3 |
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|
| 4 |
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|
| 5 |
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|
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|
| 92 |
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|
| 93 |
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|
| 94 |
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|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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|
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|
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|
| 101 |
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|
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|
| 103 |
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|
| 104 |
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|
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|
| 106 |
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|
| 107 |
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|
| 108 |
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|
| 109 |
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|
| 110 |
+
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|
| 111 |
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|
| 112 |
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|
| 113 |
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|
| 114 |
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|
| 115 |
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|
| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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"same_data_policy": true,
|
| 129 |
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"same_init_policy": true
|
| 130 |
+
}
|
| 131 |
+
}
|
reports/maniskill_bag_bridge_val_sweep_seed23/less_bonus/adapter_noop_seed23.json
ADDED
|
@@ -0,0 +1,110 @@
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"track_id": "bag_track",
|
| 3 |
+
"suite": "maniskill3",
|
| 4 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 5 |
+
"role": "target",
|
| 6 |
+
"adapter_mode": "adapter_noop",
|
| 7 |
+
"episodes": 8,
|
| 8 |
+
"successes": [
|
| 9 |
+
0,
|
| 10 |
+
0,
|
| 11 |
+
0,
|
| 12 |
+
1,
|
| 13 |
+
0,
|
| 14 |
+
0,
|
| 15 |
+
0,
|
| 16 |
+
0
|
| 17 |
+
],
|
| 18 |
+
"success_rate": 0.125,
|
| 19 |
+
"intervention_rate": 0.0,
|
| 20 |
+
"non_base_selection_rate": 0.0,
|
| 21 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 22 |
+
"steps_to_retrieve": 4.0,
|
| 23 |
+
"disturbance_proxy": 0.0,
|
| 24 |
+
"episode_records": [
|
| 25 |
+
{
|
| 26 |
+
"episode_seed": 171000,
|
| 27 |
+
"success": false,
|
| 28 |
+
"steps": 4,
|
| 29 |
+
"first_reveal_step": 1,
|
| 30 |
+
"first_retrieve_step": null,
|
| 31 |
+
"episode_disturbance": 0.0
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"episode_seed": 171001,
|
| 35 |
+
"success": false,
|
| 36 |
+
"steps": 4,
|
| 37 |
+
"first_reveal_step": 1,
|
| 38 |
+
"first_retrieve_step": null,
|
| 39 |
+
"episode_disturbance": 0.0
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"episode_seed": 171002,
|
| 43 |
+
"success": false,
|
| 44 |
+
"steps": 4,
|
| 45 |
+
"first_reveal_step": 1,
|
| 46 |
+
"first_retrieve_step": null,
|
| 47 |
+
"episode_disturbance": 0.0
|
| 48 |
+
},
|
| 49 |
+
{
|
| 50 |
+
"episode_seed": 171003,
|
| 51 |
+
"success": true,
|
| 52 |
+
"steps": 1,
|
| 53 |
+
"first_reveal_step": 1,
|
| 54 |
+
"first_retrieve_step": null,
|
| 55 |
+
"episode_disturbance": 0.0
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"episode_seed": 171004,
|
| 59 |
+
"success": false,
|
| 60 |
+
"steps": 4,
|
| 61 |
+
"first_reveal_step": 1,
|
| 62 |
+
"first_retrieve_step": null,
|
| 63 |
+
"episode_disturbance": 0.0
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"episode_seed": 171005,
|
| 67 |
+
"success": false,
|
| 68 |
+
"steps": 4,
|
| 69 |
+
"first_reveal_step": 1,
|
| 70 |
+
"first_retrieve_step": null,
|
| 71 |
+
"episode_disturbance": 0.0
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"episode_seed": 171006,
|
| 75 |
+
"success": false,
|
| 76 |
+
"steps": 4,
|
| 77 |
+
"first_reveal_step": 1,
|
| 78 |
+
"first_retrieve_step": null,
|
| 79 |
+
"episode_disturbance": 0.0
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"episode_seed": 171007,
|
| 83 |
+
"success": false,
|
| 84 |
+
"steps": 4,
|
| 85 |
+
"first_reveal_step": 1,
|
| 86 |
+
"first_retrieve_step": null,
|
| 87 |
+
"episode_disturbance": 0.0
|
| 88 |
+
}
|
| 89 |
+
],
|
| 90 |
+
"eval_protocol": {
|
| 91 |
+
"track_id": "bag_track",
|
| 92 |
+
"suite": "maniskill3",
|
| 93 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 94 |
+
"role": "target",
|
| 95 |
+
"eval_mode": "adapter_noop",
|
| 96 |
+
"seed": 17,
|
| 97 |
+
"episodes": 8,
|
| 98 |
+
"resolution": 224,
|
| 99 |
+
"cameras": [
|
| 100 |
+
"front",
|
| 101 |
+
"left",
|
| 102 |
+
"right"
|
| 103 |
+
],
|
| 104 |
+
"observation_stack": "rgb_triplicate_zero_depth",
|
| 105 |
+
"action_horizon": 8,
|
| 106 |
+
"action_space": "widowx_delta_pose",
|
| 107 |
+
"same_test_episodes": true
|
| 108 |
+
},
|
| 109 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone."
|
| 110 |
+
}
|
reports/maniskill_bag_bridge_val_sweep_seed23/less_bonus/public_benchmark_package_summary.json
ADDED
|
@@ -0,0 +1,60 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"anchor_pass": true,
|
| 3 |
+
"available_tracks": [
|
| 4 |
+
"bag_track"
|
| 5 |
+
],
|
| 6 |
+
"ci_above_zero_tracks": [],
|
| 7 |
+
"headline_pass": false,
|
| 8 |
+
"package_name": "public_reveal_retrieve_package_v1",
|
| 9 |
+
"sign_of_life_pass": false,
|
| 10 |
+
"sign_of_life_track_count": 0,
|
| 11 |
+
"sign_of_life_tracks": [],
|
| 12 |
+
"target_macro_average_delta": 0.0,
|
| 13 |
+
"tracks": {
|
| 14 |
+
"bag_track": {
|
| 15 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 16 |
+
"delta_active_vs_trunk": 0.0,
|
| 17 |
+
"delta_active_vs_trunk_ci95": [
|
| 18 |
+
-0.375,
|
| 19 |
+
0.375
|
| 20 |
+
],
|
| 21 |
+
"delta_noop_vs_trunk": 0.0,
|
| 22 |
+
"modes": {
|
| 23 |
+
"adapter_active_ft": {
|
| 24 |
+
"disturbance_proxy": 0.0,
|
| 25 |
+
"intervention_rate": 1.0,
|
| 26 |
+
"mean_success": 0.125,
|
| 27 |
+
"non_base_selection_rate": 1.0,
|
| 28 |
+
"num_runs": 1,
|
| 29 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 30 |
+
"steps_to_retrieve": 4.0
|
| 31 |
+
},
|
| 32 |
+
"adapter_noop": {
|
| 33 |
+
"disturbance_proxy": 0.0,
|
| 34 |
+
"intervention_rate": 0.0,
|
| 35 |
+
"mean_success": 0.125,
|
| 36 |
+
"non_base_selection_rate": 0.0,
|
| 37 |
+
"num_runs": 1,
|
| 38 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 39 |
+
"steps_to_retrieve": 4.0
|
| 40 |
+
},
|
| 41 |
+
"trunk_only_ft": {
|
| 42 |
+
"disturbance_proxy": 0.0,
|
| 43 |
+
"intervention_rate": 0.0,
|
| 44 |
+
"mean_success": 0.125,
|
| 45 |
+
"non_base_selection_rate": 0.0,
|
| 46 |
+
"num_runs": 1,
|
| 47 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 48 |
+
"steps_to_retrieve": 4.0
|
| 49 |
+
}
|
| 50 |
+
},
|
| 51 |
+
"notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 52 |
+
"public_source": "ManiSkill public scene proxy: PutEggplantInBasketScene-v1",
|
| 53 |
+
"role": "target",
|
| 54 |
+
"signs_of_life": false,
|
| 55 |
+
"suite": "maniskill3",
|
| 56 |
+
"target_behavior": "retrieve the target object from inside the basket and stage it outside the basket",
|
| 57 |
+
"task_family": "bag_retrieval_proxy"
|
| 58 |
+
}
|
| 59 |
+
}
|
| 60 |
+
}
|
reports/maniskill_bag_bridge_val_sweep_seed23/less_bonus/run.log
ADDED
|
@@ -0,0 +1,76 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
|
| 2 |
+
[1mCLIPModel LOAD REPORT[0m from: openai/clip-vit-base-patch32
|
| 3 |
+
Key | Status | |
|
| 4 |
+
-------------------------------------+------------+--+-
|
| 5 |
+
vision_model.embeddings.position_ids | UNEXPECTED | |
|
| 6 |
+
text_model.embeddings.position_ids | UNEXPECTED | |
|
| 7 |
+
|
| 8 |
+
Notes:
|
| 9 |
+
- UNEXPECTED: can be ignored when loading from different task/architecture; not ok if you expect identical arch.
|
| 10 |
+
CLIPTextTransformer does not expose input embeddings. Gradients cannot flow back to the token embeddings when using adapters or gradient checkpointing. Override `get_input_embeddings` to fully support those features, or set `_input_embed_layer` to the attribute name that holds the embeddings.
|
| 11 |
+
/usr/local/lib/python3.11/dist-packages/torch/nn/modules/transformer.py:307: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True
|
| 12 |
+
warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}")
|
| 13 |
+
[33;1m2026-04-01 11:26:03,154 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint[0m
|
| 14 |
+
[33;1m2026-04-01 11:26:03,205 - mani_skill - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 15 |
+
[33;1m2026-04-01 11:26:03,217 - mani_skill - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 16 |
+
[33;1m2026-04-01 11:26:03,863 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint[0m
|
| 17 |
+
[33;1m2026-04-01 11:26:03,866 - mani_skill - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 18 |
+
[33;1m2026-04-01 11:26:03,866 - mani_skill - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 19 |
+
/usr/local/lib/python3.11/dist-packages/gymnasium/core.py:311: UserWarning: [33mWARN: env.get_obs to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.get_obs` for environment variables or `env.get_wrapper_attr('get_obs')` that will search the reminding wrappers.[0m
|
| 20 |
+
logger.warn(
|
| 21 |
+
/usr/local/lib/python3.11/dist-packages/gymnasium/core.py:311: UserWarning: [33mWARN: env.get_info to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.get_info` for environment variables or `env.get_wrapper_attr('get_info')` that will search the reminding wrappers.[0m
|
| 22 |
+
logger.warn(
|
| 23 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171000, "success": false, "steps": 4}
|
| 24 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171001, "success": false, "steps": 4}
|
| 25 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171002, "success": false, "steps": 4}
|
| 26 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171003, "success": false, "steps": 4}
|
| 27 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171004, "success": false, "steps": 4}
|
| 28 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171005, "success": false, "steps": 4}
|
| 29 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171006, "success": false, "steps": 4}
|
| 30 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "trunk_only_ft", "episode_seed": 171007, "success": true, "steps": 1}
|
| 31 |
+
|
| 32 |
+
[1mCLIPModel LOAD REPORT[0m from: openai/clip-vit-base-patch32
|
| 33 |
+
Key | Status | |
|
| 34 |
+
-------------------------------------+------------+--+-
|
| 35 |
+
vision_model.embeddings.position_ids | UNEXPECTED | |
|
| 36 |
+
text_model.embeddings.position_ids | UNEXPECTED | |
|
| 37 |
+
|
| 38 |
+
Notes:
|
| 39 |
+
- UNEXPECTED: can be ignored when loading from different task/architecture; not ok if you expect identical arch.
|
| 40 |
+
[33;1m2026-04-01 11:26:36,209 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint[0m
|
| 41 |
+
[33;1m2026-04-01 11:26:36,211 - mani_skill - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 42 |
+
[33;1m2026-04-01 11:26:36,211 - mani_skill - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 43 |
+
[33;1m2026-04-01 11:26:36,429 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint[0m
|
| 44 |
+
[33;1m2026-04-01 11:26:36,431 - mani_skill - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 45 |
+
[33;1m2026-04-01 11:26:36,432 - mani_skill - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 46 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171000, "success": false, "steps": 4}
|
| 47 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171001, "success": false, "steps": 4}
|
| 48 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171002, "success": false, "steps": 4}
|
| 49 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171003, "success": true, "steps": 1}
|
| 50 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171004, "success": false, "steps": 4}
|
| 51 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171005, "success": false, "steps": 4}
|
| 52 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171006, "success": false, "steps": 4}
|
| 53 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_noop", "episode_seed": 171007, "success": false, "steps": 4}
|
| 54 |
+
|
| 55 |
+
[1mCLIPModel LOAD REPORT[0m from: openai/clip-vit-base-patch32
|
| 56 |
+
Key | Status | |
|
| 57 |
+
-------------------------------------+------------+--+-
|
| 58 |
+
vision_model.embeddings.position_ids | UNEXPECTED | |
|
| 59 |
+
text_model.embeddings.position_ids | UNEXPECTED | |
|
| 60 |
+
|
| 61 |
+
Notes:
|
| 62 |
+
- UNEXPECTED: can be ignored when loading from different task/architecture; not ok if you expect identical arch.
|
| 63 |
+
[33;1m2026-04-01 11:27:03,215 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint[0m
|
| 64 |
+
[33;1m2026-04-01 11:27:03,217 - mani_skill - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 65 |
+
[33;1m2026-04-01 11:27:03,218 - mani_skill - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 66 |
+
[33;1m2026-04-01 11:27:03,434 - mani_skill - WARNING - Mimic targets dictionary is missing for controller config for widowx250s_bridgedataset_sink. Assuming the first joint is the control joint and the second joint is the mimic joint[0m
|
| 67 |
+
[33;1m2026-04-01 11:27:03,437 - mani_skill - WARNING - No initial pose set for actor builder of eggplant, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 68 |
+
[33;1m2026-04-01 11:27:03,437 - mani_skill - WARNING - No initial pose set for actor builder of dummy_sink_target_plane, setting to default pose q=[1,0,0,0], p=[0,0,0]. Not setting reasonable initial poses may slow down simulation, see https://github.com/haosulab/ManiSkill/issues/421.[0m
|
| 69 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171000, "success": false, "steps": 4}
|
| 70 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171001, "success": false, "steps": 4}
|
| 71 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171002, "success": false, "steps": 4}
|
| 72 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171003, "success": false, "steps": 4}
|
| 73 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171004, "success": false, "steps": 4}
|
| 74 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171005, "success": false, "steps": 4}
|
| 75 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171006, "success": false, "steps": 4}
|
| 76 |
+
{"phase": "eval_episode_complete", "task": "bag", "adapter_mode": "adapter_active_ft", "episode_seed": 171007, "success": true, "steps": 1}
|
reports/maniskill_bag_bridge_val_sweep_seed23/low_bonus_high_thresh/adapter_active_ft_seed23.json
ADDED
|
@@ -0,0 +1,131 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"track_id": "bag_track",
|
| 3 |
+
"suite": "maniskill3",
|
| 4 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 5 |
+
"role": "target",
|
| 6 |
+
"adapter_mode": "adapter_active_ft",
|
| 7 |
+
"episodes": 8,
|
| 8 |
+
"successes": [
|
| 9 |
+
0,
|
| 10 |
+
0,
|
| 11 |
+
0,
|
| 12 |
+
1,
|
| 13 |
+
0,
|
| 14 |
+
0,
|
| 15 |
+
0,
|
| 16 |
+
0
|
| 17 |
+
],
|
| 18 |
+
"success_rate": 0.125,
|
| 19 |
+
"intervention_rate": 0.0,
|
| 20 |
+
"non_base_selection_rate": 0.0,
|
| 21 |
+
"steps_to_first_reveal_or_access": 1.0,
|
| 22 |
+
"steps_to_retrieve": 4.0,
|
| 23 |
+
"disturbance_proxy": 0.0,
|
| 24 |
+
"episode_records": [
|
| 25 |
+
{
|
| 26 |
+
"episode_seed": 171000,
|
| 27 |
+
"success": false,
|
| 28 |
+
"steps": 4,
|
| 29 |
+
"first_reveal_step": 1,
|
| 30 |
+
"first_retrieve_step": null,
|
| 31 |
+
"episode_disturbance": 0.0
|
| 32 |
+
},
|
| 33 |
+
{
|
| 34 |
+
"episode_seed": 171001,
|
| 35 |
+
"success": false,
|
| 36 |
+
"steps": 4,
|
| 37 |
+
"first_reveal_step": 1,
|
| 38 |
+
"first_retrieve_step": null,
|
| 39 |
+
"episode_disturbance": 0.0
|
| 40 |
+
},
|
| 41 |
+
{
|
| 42 |
+
"episode_seed": 171002,
|
| 43 |
+
"success": false,
|
| 44 |
+
"steps": 4,
|
| 45 |
+
"first_reveal_step": 1,
|
| 46 |
+
"first_retrieve_step": null,
|
| 47 |
+
"episode_disturbance": 0.0
|
| 48 |
+
},
|
| 49 |
+
{
|
| 50 |
+
"episode_seed": 171003,
|
| 51 |
+
"success": true,
|
| 52 |
+
"steps": 1,
|
| 53 |
+
"first_reveal_step": 1,
|
| 54 |
+
"first_retrieve_step": null,
|
| 55 |
+
"episode_disturbance": 0.0
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"episode_seed": 171004,
|
| 59 |
+
"success": false,
|
| 60 |
+
"steps": 4,
|
| 61 |
+
"first_reveal_step": 1,
|
| 62 |
+
"first_retrieve_step": null,
|
| 63 |
+
"episode_disturbance": 0.0
|
| 64 |
+
},
|
| 65 |
+
{
|
| 66 |
+
"episode_seed": 171005,
|
| 67 |
+
"success": false,
|
| 68 |
+
"steps": 4,
|
| 69 |
+
"first_reveal_step": 1,
|
| 70 |
+
"first_retrieve_step": null,
|
| 71 |
+
"episode_disturbance": 0.0
|
| 72 |
+
},
|
| 73 |
+
{
|
| 74 |
+
"episode_seed": 171006,
|
| 75 |
+
"success": false,
|
| 76 |
+
"steps": 4,
|
| 77 |
+
"first_reveal_step": 1,
|
| 78 |
+
"first_retrieve_step": null,
|
| 79 |
+
"episode_disturbance": 0.0
|
| 80 |
+
},
|
| 81 |
+
{
|
| 82 |
+
"episode_seed": 171007,
|
| 83 |
+
"success": false,
|
| 84 |
+
"steps": 4,
|
| 85 |
+
"first_reveal_step": 1,
|
| 86 |
+
"first_retrieve_step": null,
|
| 87 |
+
"episode_disturbance": 0.0
|
| 88 |
+
}
|
| 89 |
+
],
|
| 90 |
+
"eval_protocol": {
|
| 91 |
+
"track_id": "bag_track",
|
| 92 |
+
"suite": "maniskill3",
|
| 93 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 94 |
+
"role": "target",
|
| 95 |
+
"eval_mode": "adapter_active_ft",
|
| 96 |
+
"seed": 17,
|
| 97 |
+
"episodes": 8,
|
| 98 |
+
"resolution": 224,
|
| 99 |
+
"cameras": [
|
| 100 |
+
"front",
|
| 101 |
+
"left",
|
| 102 |
+
"right"
|
| 103 |
+
],
|
| 104 |
+
"observation_stack": "rgb_triplicate_zero_depth",
|
| 105 |
+
"action_horizon": 8,
|
| 106 |
+
"action_space": "widowx_delta_pose",
|
| 107 |
+
"same_test_episodes": true
|
| 108 |
+
},
|
| 109 |
+
"proxy_notes": "Public ManiSkill bridge scene with custom retrieval initialization. The eggplant is placed inside the basket region and must be pulled back out to a staging zone.",
|
| 110 |
+
"train_spec": {
|
| 111 |
+
"track_id": "bag_track",
|
| 112 |
+
"suite": "maniskill3",
|
| 113 |
+
"benchmark_task": "PutEggplantInBasketRetrievalProxy-v1",
|
| 114 |
+
"model_variant": "adapter_active_ft",
|
| 115 |
+
"seed": 23,
|
| 116 |
+
"train_demos": 32,
|
| 117 |
+
"val_demos": 8,
|
| 118 |
+
"init_checkpoint_group": "/workspace/workspace/VLAarchtests2/VLAarchtests/artifacts/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt",
|
| 119 |
+
"optimizer": "adamw",
|
| 120 |
+
"learning_rate": 0.0001,
|
| 121 |
+
"lr_schedule": "constant",
|
| 122 |
+
"batch_size": 4,
|
| 123 |
+
"augmentations": "none",
|
| 124 |
+
"early_stopping_metric": "val_total",
|
| 125 |
+
"max_gradient_steps": 114,
|
| 126 |
+
"unfreeze_scope": "fusion_memory_decoder",
|
| 127 |
+
"dataset_split_id": "bag_bridge_smoke_v1_dataset_seed17",
|
| 128 |
+
"same_data_policy": true,
|
| 129 |
+
"same_init_policy": true
|
| 130 |
+
}
|
| 131 |
+
}
|
reports/maniskill_bag_bridge_val_sweep_seed23/summary.json
ADDED
|
@@ -0,0 +1,30 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"default": {
|
| 3 |
+
"active_success": 0.0,
|
| 4 |
+
"trunk_success": 0.125,
|
| 5 |
+
"noop_success": 0.125,
|
| 6 |
+
"active_intervention_rate": 1.0,
|
| 7 |
+
"active_non_base_rate": 1.0
|
| 8 |
+
},
|
| 9 |
+
"less_bonus": {
|
| 10 |
+
"active_success": 0.125,
|
| 11 |
+
"trunk_success": 0.125,
|
| 12 |
+
"noop_success": 0.125,
|
| 13 |
+
"active_intervention_rate": 1.0,
|
| 14 |
+
"active_non_base_rate": 1.0
|
| 15 |
+
},
|
| 16 |
+
"conservative": {
|
| 17 |
+
"active_success": 0.125,
|
| 18 |
+
"trunk_success": 0.125,
|
| 19 |
+
"noop_success": 0.125,
|
| 20 |
+
"active_intervention_rate": 0.0,
|
| 21 |
+
"active_non_base_rate": 0.0
|
| 22 |
+
},
|
| 23 |
+
"low_bonus_high_thresh": {
|
| 24 |
+
"active_success": 0.125,
|
| 25 |
+
"trunk_success": 0.125,
|
| 26 |
+
"noop_success": 0.125,
|
| 27 |
+
"active_intervention_rate": 0.0,
|
| 28 |
+
"active_non_base_rate": 0.0
|
| 29 |
+
}
|
| 30 |
+
}
|
reports/proxy_rank_aligned_fast_eval/active/reveal_benchmark.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
reports/proxy_rank_aligned_fast_eval/active/reveal_benchmark.md
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Reveal Proxy Benchmark
|
| 2 |
+
|
| 3 |
+
## adapter
|
| 4 |
+
- controller: model
|
| 5 |
+
- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/checkpoint_best.pt
|
| 6 |
+
- episodes: 24.000
|
| 7 |
+
- mean_success: 0.000
|
| 8 |
+
- visibility_integral: 0.159
|
| 9 |
+
- corridor_availability: 0.002
|
| 10 |
+
- reocclusion_rate: 0.002
|
| 11 |
+
- disturbance_cost: 0.678
|
| 12 |
+
- premature_retrieve_rate: 0.827
|
| 13 |
+
- reocclusion_after_reveal_rate: 0.000
|
| 14 |
+
- planner_regret: 0.001
|
| 15 |
+
- foliage_success: 0.000
|
| 16 |
+
- bag_success: 0.000
|
| 17 |
+
- cloth_success: 0.000
|
reports/proxy_rank_aligned_fast_eval/noop/reveal_benchmark.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
reports/proxy_rank_aligned_fast_eval/noop/reveal_benchmark.md
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Reveal Proxy Benchmark
|
| 2 |
+
|
| 3 |
+
## adapter
|
| 4 |
+
- controller: model
|
| 5 |
+
- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_rank_only_fast_seed17/checkpoint_best.pt
|
| 6 |
+
- episodes: 24.000
|
| 7 |
+
- mean_success: 0.000
|
| 8 |
+
- visibility_integral: 0.160
|
| 9 |
+
- corridor_availability: 0.002
|
| 10 |
+
- reocclusion_rate: 0.002
|
| 11 |
+
- disturbance_cost: 0.676
|
| 12 |
+
- premature_retrieve_rate: 0.835
|
| 13 |
+
- reocclusion_after_reveal_rate: 0.000
|
| 14 |
+
- planner_regret: 0.046
|
| 15 |
+
- foliage_success: 0.000
|
| 16 |
+
- bag_success: 0.000
|
| 17 |
+
- cloth_success: 0.000
|
reports/proxy_semantic_nowm_quick12_rerun/reveal_benchmark.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
reports/proxy_semantic_nowm_quick12_rerun/reveal_benchmark.md
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Reveal Proxy Benchmark
|
| 2 |
+
|
| 3 |
+
## patched
|
| 4 |
+
- controller: model
|
| 5 |
+
- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_base_reuse128_seed17/checkpoint_best.pt
|
| 6 |
+
- episodes: 36.000
|
| 7 |
+
- mean_success: 0.222
|
| 8 |
+
- visibility_integral: 10.312
|
| 9 |
+
- corridor_availability: 0.303
|
| 10 |
+
- reocclusion_rate: 0.001
|
| 11 |
+
- disturbance_cost: 0.147
|
| 12 |
+
- premature_retrieve_rate: 0.649
|
| 13 |
+
- reocclusion_after_reveal_rate: 0.000
|
| 14 |
+
- planner_regret: 0.224
|
| 15 |
+
- foliage_success: 0.667
|
| 16 |
+
- bag_success: 0.000
|
| 17 |
+
- cloth_success: 0.000
|
reports/proxy_transition_fast_eval/active/reveal_benchmark.json
ADDED
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The diff for this file is too large to render.
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|
reports/proxy_transition_fast_eval/active/reveal_benchmark.md
ADDED
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@@ -0,0 +1,17 @@
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|
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|
|
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|
|
| 1 |
+
# Reveal Proxy Benchmark
|
| 2 |
+
|
| 3 |
+
## adapter
|
| 4 |
+
- controller: model
|
| 5 |
+
- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_transition_fast_seed17/checkpoint_best.pt
|
| 6 |
+
- episodes: 24.000
|
| 7 |
+
- mean_success: 0.000
|
| 8 |
+
- visibility_integral: 0.158
|
| 9 |
+
- corridor_availability: 0.002
|
| 10 |
+
- reocclusion_rate: 0.002
|
| 11 |
+
- disturbance_cost: 0.689
|
| 12 |
+
- premature_retrieve_rate: 0.820
|
| 13 |
+
- reocclusion_after_reveal_rate: 0.000
|
| 14 |
+
- planner_regret: 0.001
|
| 15 |
+
- foliage_success: 0.000
|
| 16 |
+
- bag_success: 0.000
|
| 17 |
+
- cloth_success: 0.000
|
reports/proxy_transition_fast_eval/noop/reveal_benchmark.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
reports/proxy_transition_fast_eval/noop/reveal_benchmark.md
ADDED
|
@@ -0,0 +1,17 @@
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|
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|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Reveal Proxy Benchmark
|
| 2 |
+
|
| 3 |
+
## adapter
|
| 4 |
+
- controller: model
|
| 5 |
+
- checkpoint: /workspace/workspace/outputs/adapter_proxy/proxy_adapter_wrapped_clip_transition_fast_seed17/checkpoint_best.pt
|
| 6 |
+
- episodes: 24.000
|
| 7 |
+
- mean_success: 0.000
|
| 8 |
+
- visibility_integral: 0.160
|
| 9 |
+
- corridor_availability: 0.002
|
| 10 |
+
- reocclusion_rate: 0.002
|
| 11 |
+
- disturbance_cost: 0.676
|
| 12 |
+
- premature_retrieve_rate: 0.835
|
| 13 |
+
- reocclusion_after_reveal_rate: 0.000
|
| 14 |
+
- planner_regret: 0.046
|
| 15 |
+
- foliage_success: 0.000
|
| 16 |
+
- bag_success: 0.000
|
| 17 |
+
- cloth_success: 0.000
|