Repository: simpler-env/SimplerEnv
Issue: SimplerEnv-OpenVLA: openvla evaluation issue!
Root cause: Unimplemented Feature Gap

I am running the vla inference with the openvla/openvla-7b model.


When I was using:
`(simpler_env) 50046@m24085:~/SimplerEnv-OpenVLA$ bash scripts/run_openvla.sh
🚀 running bridge.sh ...
2025-05-05 18:22:11.247697: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
2025-05-05 18:22:11.247735: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered
2025-05-05 18:22:11.248394: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
2025-05-05 18:22:11.251956: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations.
To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags.
2025-05-05 18:22:11.623121: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT
Octo is not correctly imported.
No module named 'octo'
2025-05-05 18:22:12.867627: I external/local_xla/xla/stream_executor/cuda/cuda_executor.cc:901] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero. See more at https://github.com/torvalds/linux/blob/v6.0/Documentation/ABI/testing/sysfs-bus-pci#L344-L355
2025-05-05 18:22:12.906224: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2256] Cannot dlopen some GPU libraries. Please make sure the missing libraries mentioned above are installed properly if you would like to use GPU. Follow the guide at https://www.tensorflow.org/install/gpu for how to download and setup the required libraries for your platform.
Skipping registering GPU devices...
**** openvla ****
*** policy_setup: widowx_bridge, unnorm_key: bridge_orig ***
/home/f50046112/.local/lib/python3.10/site-packages/huggingface_hub/file_download.py:896: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
  warnings.warn(
/home/f50046112/.local/lib/python3.10/site-packages/huggingface_hub/file_download.py:896: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
  warnings.warn(
You are attempting to use Flash Attention 2.0 with a model not initialized on GPU. Make sure to move the model to GPU after initializing it on CPU with `model.to('cuda')`.
You are attempting to use Flash Attention 2.0 without specifying a torch dtype. This might lead to unexpected behaviour
Loading checkpoint shards: 100%|██████████████████████████████████████████████████████████████████████████████████████████████████████████████████| 3/3 [00:00<00:00,  4.60it/s]
/home/f50046112/.local/lib/python3.10/site-packages/huggingface_hub/file_download.py:896: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`.
  warnings.warn(
Control mode:  arm_pd_ee_target_delta_pose_align2_gripper_pd_joint_pos
[2025-05-05 18:22:21.794] [svulkan2] [error] GLFW error: X11: Failed to open display
[2025-05-05 18:22:21.794] [svulkan2] [warning] Continue without GLFW.
/home/f50046112/miniconda3/envs/simpler_env/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.is_final_subtask to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.is_final_subtask` for environment variables or `env.get_wrapper_attr('is_final_subtask')` that will search the reminding wrappers.
  logger.warn(
/home/f50046112/miniconda3/envs/simpler_env/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.get_language_instruction 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_language_instruction` for environment variables or `env.get_wrapper_attr('get_language_instruction')` that will search the reminding wrappers.
  logger.warn(
put carrot on plate
/home/f50046112/miniconda3/envs/simpler_env/lib/python3.10/site-packages/gymnasium/core.py:311: UserWarning: WARN: env.robot_uid to get variables from other wrappers is deprecated and will be removed in v1.0, to get this variable you can do `env.unwrapped.robot_uid` for environment variables or `env.get_wrapper_attr('robot_uid')` that will search the reminding wrappers.
  logger.warn(
0 {'elapsed_steps': 1, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
1 {'elapsed_steps': 2, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
2 {'elapsed_steps': 3, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
3 {'elapsed_steps': 4, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
4 {'elapsed_steps': 5, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
5 {'elapsed_steps': 6, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
6 {'elapsed_steps': 7, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
7 {'elapsed_steps': 8, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
8 {'elapsed_steps': 9, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
9 {'elapsed_steps': 10, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
10 {'elapsed_steps': 11, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
11 {'elapsed_steps': 12, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
12 {'elapsed_steps': 13, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
13 {'elapsed_steps': 14, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
14 {'elapsed_steps': 15, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
15 {'elapsed_steps': 16, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
16 {'elapsed_steps': 17, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
17 {'elapsed_steps': 18, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
18 {'elapsed_steps': 19, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
19 {'elapsed_steps': 20, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
20 {'elapsed_steps': 21, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
21 {'elapsed_steps': 22, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
22 {'elapsed_steps': 23, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
23 {'elapsed_steps': 24, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
24 {'elapsed_steps': 25, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
25 {'elapsed_steps': 26, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
26 {'elapsed_steps': 27, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
27 {'elapsed_steps': 28, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
28 {'elapsed_steps': 29, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
29 {'elapsed_steps': 30, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
30 {'elapsed_steps': 31, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
31 {'elapsed_steps': 32, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
32 {'elapsed_steps': 33, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
33 {'elapsed_steps': 34, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
34 {'elapsed_steps': 35, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
35 {'elapsed_steps': 36, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
36 {'elapsed_steps': 37, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
37 {'elapsed_steps': 38, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
38 {'elapsed_steps': 39, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
39 {'elapsed_steps': 40, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
40 {'elapsed_steps': 41, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
41 {'elapsed_steps': 42, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
42 {'elapsed_steps': 43, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
43 {'elapsed_steps': 44, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
44 {'elapsed_steps': 45, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
45 {'elapsed_steps': 46, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
46 {'elapsed_steps': 47, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
47 {'elapsed_steps': 48, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
48 {'elapsed_steps': 49, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
49 {'elapsed_steps': 50, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
50 {'elapsed_steps': 51, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
51 {'elapsed_steps': 52, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
52 {'elapsed_steps': 53, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
53 {'elapsed_steps': 54, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
54 {'elapsed_steps': 55, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
55 {'elapsed_steps': 56, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
56 {'elapsed_steps': 57, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
57 {'elapsed_steps': 58, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
58 {'elapsed_steps': 59, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
59 {'elapsed_steps': 60, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
[2025-05-05 18:22:49.413] [svulkan2] [error] GLFW error: X11: Failed to open display
[2025-05-05 18:22:49.413] [svulkan2] [warning] Continue without GLFW.
put carrot on plate
0 {'elapsed_steps': 1, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
1 {'elapsed_steps': 2, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
2 {'elapsed_steps': 3, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
3 {'elapsed_steps': 4, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
4 {'elapsed_steps': 5, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
5 {'elapsed_steps': 6, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
6 {'elapsed_steps': 7, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
7 {'elapsed_steps': 8, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
8 {'elapsed_steps': 9, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
9 {'elapsed_steps': 10, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
10 {'elapsed_steps': 11, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
11 {'elapsed_steps': 12, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
12 {'elapsed_steps': 13, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
13 {'elapsed_steps': 14, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
14 {'elapsed_steps': 15, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
15 {'elapsed_steps': 16, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
16 {'elapsed_steps': 17, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
17 {'elapsed_steps': 18, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
18 {'elapsed_steps': 19, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
19 {'elapsed_steps': 20, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
20 {'elapsed_steps': 21, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
21 {'elapsed_steps': 22, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
22 {'elapsed_steps': 23, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
23 {'elapsed_steps': 24, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
24 {'elapsed_steps': 25, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
25 {'elapsed_steps': 26, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
26 {'elapsed_steps': 27, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
27 {'elapsed_steps': 28, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
28 {'elapsed_steps': 29, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
29 {'elapsed_steps': 30, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
30 {'elapsed_steps': 31, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
31 {'elapsed_steps': 32, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
32 {'elapsed_steps': 33, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
33 {'elapsed_steps': 34, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
34 {'elapsed_steps': 35, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
35 {'elapsed_steps': 36, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
36 {'elapsed_steps': 37, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
37 {'elapsed_steps': 38, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
38 {'elapsed_steps': 39, 'moved_correct_obj': False, 'moved_wrong_obj': False, 'is_src_obj_grasped': False, 'consecutive_grasp': False, 'src_on_target': False, 'episode_stats': OrderedDict([('moved_correct_obj', False), ('moved_wrong_obj', False), ('is_src_obj_grasped', False), ('consecutive_grasp', False), ('src_on_target', False)]), 'success': False}
...

`

**There is not even one successful step**, I am wondering if there is something wrong with my setup, maybe you have some idea on this, thank you in advance!

![Image](https://github.com/user-attachments/assets/41eff10e-6203-4449-9e4c-b21d8854bf6d)


Openvla is known to be quite brittle to simpler bridge visuals (it's not trained w/ data augmentation); later models like open-pi0 and spatialvla are much better.