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0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/bimanual_take_tray_out_of_oven/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 13, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/rollout_eval.md b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..a2a69fc0feb8537a22d83b342b634c31804b7851 --- /dev/null +++ b/artifacts/reports/peract2_baseline_ep1/baseline_rgbd_seed17_plan_split/rollout_eval.md @@ -0,0 +1,31 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `13` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_pick_plate`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_put_item_in_drawer`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_put_bottle_in_fridge`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_handover_item`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_pick_laptop`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_straighten_rope`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_sweep_to_dustpan`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_lift_tray`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_handover_item_easy`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_take_tray_out_of_oven`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..bd3c5377a5394db98bc3a66f2e69b7dd2a3a3475 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..9f0be2adfe5ba98053df8826ace63138645d4a47 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..7856f30aa315985d73417568a38822ebcf2e76f6 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..65ccefdcf41ce0794bde68dd38dfa5c8dd573bd8 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..a6c63ecaef2f71c2dce8ebc8683146812eb6ecf0 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item --tasks bimanual_handover_item --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..65dbdde674f7eb5573ec88f7fe3a8c9c657536aa --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_handover_item": { + "task_class": "BimanualHandoverItem", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "bring me the red item", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..973ed49981c2115447939a3d228f3990717b4a4a --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_handover_item`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..0e0f12638f196b27bdfb3196eb54d69bc8697fcb --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_handover_item": { + "task_class": "BimanualHandoverItem", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "bring me the red item", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..fa39c32240c21f79c3e77d0f40827183ed86a335 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy --tasks bimanual_handover_item_easy --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..86b2d377d28bf5973ac18ae64d6b7287ca7599aa --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_handover_item_easy": { + "task_class": "BimanualHandoverItemEasy", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "bring me the item", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..2221be72a6f46346da8c4d8f9ef2ebc1ac470958 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_handover_item_easy`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..bd358ad8988c4b0a92ace979ffa77dc580e3e404 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_handover_item_easy/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_handover_item_easy": { + "task_class": "BimanualHandoverItemEasy", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "bring me the item", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..2c57bf485aa9ebbe0eb783210bbbd5137e6d1d5e --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..0a1a0f04b1a4dbcf86f765234957d6a76c49df76 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..a72bc68ef4382fe47f6c79b200ac55d7607d7437 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..dbfe72bd5a89b50279c54b2df0640c6dd0a740ca --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..c432289cedb720fbe516c32877430d9036a16d32 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray --tasks bimanual_lift_tray --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..b45c26880af9d582969a9e30b0a7604748f0032d --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_tray": { + "task_class": "BimanualLiftTray", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the tray", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..75dd7f8ec754d9468bc300d67c9b56ac81a735ef --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_tray`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..e05f1b0e35837436a5fecc2a7916f8cb394be657 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/stderr.txt @@ -0,0 +1,6 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(True, '') left=(False, 'waypoint1 - DualPanda') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_lift_tray. Infeasible episode. Can't reach waypoint ((True, ''), (False, 'waypoint1 - DualPanda')). diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..9ae86c543c60c29474eabf6c9e42dbe9be9016e2 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_lift_tray/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_tray": { + "task_class": "BimanualLiftTray", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the tray", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..c4cbc4b432b423c276e0b16583bd40502385e68b --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop --tasks bimanual_pick_laptop --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..3ccd14194f3db97687b44b1d49167946a95a3511 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_laptop": { + "task_class": "BimanualPickLaptop", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the laptop", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..f6f825e285d9bf4569dace5e324bfbcfc9ad5d70 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_pick_laptop`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..39ca872fbb5e5c67545fd31afd87c7db5e7fc75c --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/stderr.txt @@ -0,0 +1,14 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. +ERROR:root:robot is in collision +ERROR:root:Error when checking waypoints. Exception is: +WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')). +WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')). +WARNING:root:Waypoints are not reachable right=(False, 'waypoint5 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint5 - DualPanda'), (True, '')). +WARNING:root:Waypoints are not reachable right=(False, 'waypoint1 - DualPanda') left=(True, '') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_pick_laptop. Infeasible episode. Can't reach waypoint ((False, 'waypoint1 - DualPanda'), (True, '')). diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..7c1bd36ca986de5ef7f8028769261d1eb7f7159d --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_laptop/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_laptop": { + "task_class": "BimanualPickLaptop", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the laptop", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d50c3f2b7edce45b3a87b2458dc54b5b3092374 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate --tasks bimanual_pick_plate --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..a5d4d6994e75161d150bec432ef01864f9c9679c --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_plate": { + "task_class": "BimanualPickPlate", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the plate", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..37dd356266a8cf1d4e54639e8fc6ea04dc71c43e --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_pick_plate`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..789eee380d499e0b9492346d2010e5198d4cbd21 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_pick_plate/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_plate": { + "task_class": "BimanualPickPlate", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the plate", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..093ae87b4485f558ec4c6d7a9bebf1565bf87bc1 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..63c5c5c3d022b0bac75792e01beb516fcbeee67b --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + 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"noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..dcb31e31ce8660ba769eb982f61b33075d078b36 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..36db292ed40a7823929b6b1c613187c4989bea7c --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, 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0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..bd25fc7cf6e5b98df46bb28786df15df2534a73c --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge --tasks bimanual_put_bottle_in_fridge --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..8a3c82df8ff18d478699445d831fc0d06eebb3ce --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_bottle_in_fridge": { + "task_class": "BimanualPutBottleInFridge", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put bottle in fridge", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + 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+ 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..388d51347325af828c66dad306b76ca67f6e717d --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_put_bottle_in_fridge`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..6fff8a41e17c0be269216bb73154c5eb96b727ed --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_bottle_in_fridge/stdout.txt @@ -0,0 +1,415 @@ +[ 0.05 -0.27500001 0.75199997] +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_bottle_in_fridge": { + "task_class": "BimanualPutBottleInFridge", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put bottle in fridge", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..9f72baf9e84d1646c80ca6a42e6b5b81f3ad8503 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer --tasks bimanual_put_item_in_drawer --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..e7f98862002126f7db09340e8f2a424e81a41bd8 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_item_in_drawer": { + "task_class": "BimanualPutItemInDrawer", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put the item in the bottom drawer", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, 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"chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..f3c32aac7781f1e0511fe335483b736270cc5eb7 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_put_item_in_drawer`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..59aaa6a2c708c63e8b56fb1ac1d70320bf447fc7 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_put_item_in_drawer/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_put_item_in_drawer": { + "task_class": "BimanualPutItemInDrawer", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "put the item in the bottom drawer", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..8534952e210ddef813ed41f28b4370cbb5d36e2f --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope --tasks bimanual_straighten_rope --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..9bdda442224d570164fe8e329b70f28f64175751 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_straighten_rope": { + "task_class": "BimanualStraightenRope", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "straighten rope", + "steps": [ + { + "timestep": 0, 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"noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..db29ab1935d530ee3512f3dee04cf87a0e8ca670 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_straighten_rope`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..edc4622395138cdcb5379da99f0461cb013445d9 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_straighten_rope/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_straighten_rope": { + "task_class": "BimanualStraightenRope", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "straighten rope", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..872c8a44388592a25cac07a98dc5d46ef46609f7 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan --tasks bimanual_sweep_to_dustpan --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..0e42d4bc87af3cbe3b520f14ab7455df012654b7 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_sweep_to_dustpan": { + "task_class": "BimanualSweepToDustpan", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "sweep dirt to dustpan", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 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+ 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..8321f6533361dab1bad7de2a1cbde7ff0ad1ca3a --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_sweep_to_dustpan`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..6bff04760dea078f34c8716684cc86e951e2a30a --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_sweep_to_dustpan/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_sweep_to_dustpan": { + "task_class": "BimanualSweepToDustpan", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "sweep dirt to dustpan", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..dc5b5cdac2931cd56f7c458d7b64455523694e8e --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven --tasks bimanual_take_tray_out_of_oven --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..fa5ad6b3202e4bcc4bc578de89b244abbe8b7dea --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/rollout_eval.json @@ -0,0 +1,413 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_take_tray_out_of_oven": { + "task_class": "BimanualTakeTrayOutOfOven", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "take tray out of oven", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..e127641046b384e2ba2b054b41fa50ea308bd7b9 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_take_tray_out_of_oven`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..914c5e79ee8356851c61efe6b19862e71fe9a4ba --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/stderr.txt @@ -0,0 +1,6 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. +WARNING:root:Waypoints are not reachable right=(False, 'waypoint0 - DualPanda') left=(False, 'waypoint5 - DualPanda') +ERROR:root:Error when checking waypoints. Exception is: Error in task bimanual_take_tray_out_of_oven. Infeasible episode. Can't reach waypoint ((False, 'waypoint0 - DualPanda'), (False, 'waypoint5 - DualPanda')). diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..d5b50d1bb8c2bf93d5fda2a1ab708473818c53b4 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/stdout.txt @@ -0,0 +1,414 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_take_tray_out_of_oven": { + "task_class": "BimanualTakeTrayOutOfOven", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "take tray out of oven", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 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"noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..154521424b741d1b06007b5a3cb1a03b9c5b8e02 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/rollout_eval.json @@ -0,0 +1,5128 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "device": "cuda", + "no_planner": false, + "disable_task_conditioning": false, + "no_geometry": false, + "compact_world_model": false, + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + 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+ 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": null, + "planner_scores": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0, + "subprocess_returncode": 0, + "rollout_path": "/workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/bimanual_take_tray_out_of_oven/rollout_eval.json" + } + }, + "subprocess_mode": "isolated_per_task", + "task_count": 13, + "error_tasks": [], + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..213be94223d0ee2a6224ef1a97ccbb40936ebd10 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_noplan_split/rollout_eval.md @@ -0,0 +1,31 @@ +# PerAct2 13-Task Rollout Sweep + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Episodes per task: `1` +- Episode length: `20` +- Resolution: `224` +- No planner: `False` +- Disable task conditioning: `False` +- No geometry: `False` +- Compact world model: `False` +- Task count: `13` +- Error tasks: `[]` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_lift_ball`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_dual_push_buttons`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_pick_plate`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_put_item_in_drawer`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_put_bottle_in_fridge`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_handover_item`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_pick_laptop`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_straighten_rope`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_sweep_to_dustpan`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_lift_tray`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_handover_item_easy`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] +- `bimanual_take_tray_out_of_oven`: mean_success=0.000, mean_return=0.000, path_recoveries=[0], noop_fallbacks=[0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..88a4aaeaab0f7658e266ef384d2da2346ad2627a --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons --tasks bimanual_dual_push_buttons --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..3bbb11f07fb793296f87b771d185b70862b343c6 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.768912315368652, + 5.8074212074279785, + 11.662575721740723, + 5.525552749633789 + ], + "predicted_reocclusion": 0.38116294145584106, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.768912315368652, + 5.8074212074279785, + 11.662575721740723, + 5.525552749633789 + ], + "predicted_reocclusion": 0.38116294145584106, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.768912315368652, + 5.8074212074279785, + 11.662575721740723, + 5.525552749633789 + ], + "predicted_reocclusion": 0.38116294145584106, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.768912315368652, + 5.8074212074279785, + 11.662575721740723, + 5.525552749633789 + ], + "predicted_reocclusion": 0.38116294145584106, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.192192077636719, + 5.807668685913086, + 5.376604080200195, + 11.892213821411133 + ], + "predicted_reocclusion": 0.3927881121635437, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.192192077636719, + 5.807668685913086, + 5.376604080200195, + 11.892213821411133 + ], + "predicted_reocclusion": 0.3927881121635437, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.192192077636719, + 5.807668685913086, + 5.376604080200195, + 11.892213821411133 + ], + "predicted_reocclusion": 0.3927881121635437, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.192192077636719, + 5.807668685913086, + 5.376604080200195, + 11.892213821411133 + ], + "predicted_reocclusion": 0.3927881121635437, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.650025367736816, + 5.730947017669678, + 11.603944778442383, + 5.452371597290039 + ], + "predicted_reocclusion": 0.3803376257419586, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.650025367736816, + 5.730947017669678, + 11.603944778442383, + 5.452371597290039 + ], + "predicted_reocclusion": 0.3803376257419586, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 10, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.650025367736816, + 5.730947017669678, + 11.603944778442383, + 5.452371597290039 + ], + "predicted_reocclusion": 0.3803376257419586, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 11, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.650025367736816, + 5.730947017669678, + 11.603944778442383, + 5.452371597290039 + ], + "predicted_reocclusion": 0.3803376257419586, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 12, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.21634292602539, + 5.972996234893799, + 5.590262413024902, + 12.124283790588379 + ], + "predicted_reocclusion": 0.3890746533870697, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.21634292602539, + 5.972996234893799, + 5.590262413024902, + 12.124283790588379 + ], + "predicted_reocclusion": 0.3890746533870697, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.21634292602539, + 5.972996234893799, + 5.590262413024902, + 12.124283790588379 + ], + "predicted_reocclusion": 0.3890746533870697, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.21634292602539, + 5.972996234893799, + 5.590262413024902, + 12.124283790588379 + ], + "predicted_reocclusion": 0.3890746533870697, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.878209114074707, + 5.708108901977539, + 11.51490306854248, + 5.417014122009277 + ], + "predicted_reocclusion": 0.37703394889831543, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.878209114074707, + 5.708108901977539, + 11.51490306854248, + 5.417014122009277 + ], + "predicted_reocclusion": 0.37703394889831543, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.878209114074707, + 5.708108901977539, + 11.51490306854248, + 5.417014122009277 + ], + "predicted_reocclusion": 0.37703394889831543, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.878209114074707, + 5.708108901977539, + 11.51490306854248, + 5.417014122009277 + ], + "predicted_reocclusion": 0.37703394889831543, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..5c4bc12d288f5b138dd4b0fafa33fa4ec98e22e1 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_dual_push_buttons`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..3cb80a2d482895ddc264952016f9e096c3699d99 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_dual_push_buttons/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_dual_push_buttons": { + "task_class": "BimanualDualPushButtons", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the olive and the orange buttons", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.768912315368652, + 5.8074212074279785, + 11.662575721740723, + 5.525552749633789 + ], + "predicted_reocclusion": 0.38116294145584106, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.768912315368652, + 5.8074212074279785, + 11.662575721740723, + 5.525552749633789 + ], + "predicted_reocclusion": 0.38116294145584106, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.768912315368652, + 5.8074212074279785, + 11.662575721740723, + 5.525552749633789 + ], + "predicted_reocclusion": 0.38116294145584106, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.768912315368652, + 5.8074212074279785, + 11.662575721740723, + 5.525552749633789 + ], + "predicted_reocclusion": 0.38116294145584106, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.192192077636719, + 5.807668685913086, + 5.376604080200195, + 11.892213821411133 + ], + "predicted_reocclusion": 0.3927881121635437, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.192192077636719, + 5.807668685913086, + 5.376604080200195, + 11.892213821411133 + ], + "predicted_reocclusion": 0.3927881121635437, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + 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0.3890746533870697, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.878209114074707, + 5.708108901977539, + 11.51490306854248, + 5.417014122009277 + ], + "predicted_reocclusion": 0.37703394889831543, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.878209114074707, + 5.708108901977539, + 11.51490306854248, + 5.417014122009277 + ], + "predicted_reocclusion": 0.37703394889831543, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.878209114074707, + 5.708108901977539, + 11.51490306854248, + 5.417014122009277 + ], + "predicted_reocclusion": 0.37703394889831543, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.878209114074707, + 5.708108901977539, + 11.51490306854248, + 5.417014122009277 + ], + "predicted_reocclusion": 0.37703394889831543, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..0f44768ea01ee6c3ded2e62baeaace50f60ab7a4 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball --tasks bimanual_lift_ball --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..6312c0bb49f094f4f8f07623737cdc8717d9caec --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.276130676269531, + 6.187265396118164, + 12.048608779907227, + 5.903286457061768 + ], + "predicted_reocclusion": 0.3819456994533539, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.276130676269531, + 6.187265396118164, + 12.048608779907227, + 5.903286457061768 + ], + "predicted_reocclusion": 0.3819456994533539, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.276130676269531, + 6.187265396118164, + 12.048608779907227, + 5.903286457061768 + ], + "predicted_reocclusion": 0.3819456994533539, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.276130676269531, + 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+ "predicted_reocclusion": 0.38993874192237854, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 7, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.960314750671387, + 6.58339262008667, + 6.196633815765381, + 12.31088924407959 + ], + "predicted_reocclusion": 0.38993874192237854, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 8, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.02313232421875, + 6.120513439178467, + 11.971551895141602, + 5.8356709480285645 + ], + "predicted_reocclusion": 0.38096433877944946, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 9, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.02313232421875, + 6.120513439178467, + 11.971551895141602, + 5.8356709480285645 + ], + "predicted_reocclusion": 0.38096433877944946, + 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"noop_fallbacks": 0 + }, + { + "timestep": 13, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.318063735961914, + 6.391705513000488, + 12.28210163116455, + 6.0150651931762695 + ], + "predicted_reocclusion": 0.3892381489276886, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.318063735961914, + 6.391705513000488, + 12.28210163116455, + 6.0150651931762695 + ], + "predicted_reocclusion": 0.3892381489276886, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.318063735961914, + 6.391705513000488, + 12.28210163116455, + 6.0150651931762695 + ], + "predicted_reocclusion": 0.3892381489276886, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.355757713317871, + 6.093206405639648, + 11.83714485168457, + 5.79401969909668 + ], + "predicted_reocclusion": 0.37843990325927734, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.355757713317871, + 6.093206405639648, + 11.83714485168457, + 5.79401969909668 + ], + "predicted_reocclusion": 0.37843990325927734, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.355757713317871, + 6.093206405639648, + 11.83714485168457, + 5.79401969909668 + ], + "predicted_reocclusion": 0.37843990325927734, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.355757713317871, + 6.093206405639648, + 11.83714485168457, + 5.79401969909668 + ], + "predicted_reocclusion": 0.37843990325927734, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..6b3fca30aab27037fd9d67e7f1b856768195445c --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_ball`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..3f410554b1f3092b5f3f1d243720b9b28e3fe949 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_ball/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_ball": { + "task_class": "BimanualLiftBall", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the ball", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.276130676269531, + 6.187265396118164, + 12.048608779907227, + 5.903286457061768 + ], + "predicted_reocclusion": 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+ "predicted_reocclusion": 0.37843990325927734, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.355757713317871, + 6.093206405639648, + 11.83714485168457, + 5.79401969909668 + ], + "predicted_reocclusion": 0.37843990325927734, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.355757713317871, + 6.093206405639648, + 11.83714485168457, + 5.79401969909668 + ], + "predicted_reocclusion": 0.37843990325927734, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.355757713317871, + 6.093206405639648, + 11.83714485168457, + 5.79401969909668 + ], + "predicted_reocclusion": 0.37843990325927734, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..9815735e8ea92e338589c14bd79d04c1357ec659 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray --tasks bimanual_lift_tray --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..95cc0d9442bbab4a1b0460522ae478914aa2d38e --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_lift_tray": { + "task_class": "BimanualLiftTray", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "Lift the tray", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 14.02539348602295, + 6.206759452819824, + 11.995542526245117, + 5.905522346496582 + ], + "predicted_reocclusion": 0.38222017884254456, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 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"mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..344229c4881b75b5f4e91ee0583af41492fa13d3 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_lift_tray`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..f044e400d420f52dda85faf15c21c009f396052d --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_lift_tray/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], 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"planner_scores": [ + 12.870437622070312, + 6.1406965255737305, + 11.875948905944824, + 5.828476428985596 + ], + "predicted_reocclusion": 0.37727993726730347, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 12.870437622070312, + 6.1406965255737305, + 11.875948905944824, + 5.828476428985596 + ], + "predicted_reocclusion": 0.37727993726730347, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..4ca234fdf7fba98d46c73d33ae50632ea739aff4 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate --tasks bimanual_pick_plate --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..9cc1112d629723b13dc6b196ef3127cc1285bab7 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_plate": { + "task_class": "BimanualPickPlate", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the plate", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.944089889526367, + 5.9646806716918945, + 11.789834022521973, + 5.680741310119629 + ], + "predicted_reocclusion": 0.38181453943252563, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.944089889526367, + 5.9646806716918945, + 11.789834022521973, + 5.680741310119629 + ], + "predicted_reocclusion": 0.38181453943252563, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.944089889526367, + 5.9646806716918945, + 11.789834022521973, + 5.680741310119629 + ], + "predicted_reocclusion": 0.38181453943252563, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + 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"support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.022696495056152, + 5.886700630187988, + 11.643742561340332, + 5.592336177825928 + ], + "predicted_reocclusion": 0.3775891065597534, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.022696495056152, + 5.886700630187988, + 11.643742561340332, + 5.592336177825928 + ], + "predicted_reocclusion": 0.3775891065597534, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.022696495056152, + 5.886700630187988, + 11.643742561340332, + 5.592336177825928 + ], + "predicted_reocclusion": 0.3775891065597534, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.022696495056152, + 5.886700630187988, + 11.643742561340332, + 5.592336177825928 + ], + "predicted_reocclusion": 0.3775891065597534, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..0fb9a85841a1f7b709cb28aaec7d9583f752b926 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_pick_plate`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..a78879e01271331c9a8bcc36481c0681d0eea352 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_pick_plate/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_pick_plate": { + "task_class": "BimanualPickPlate", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "pick up the plate", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.944089889526367, + 5.9646806716918945, + 11.789834022521973, + 5.680741310119629 + ], + "predicted_reocclusion": 0.38181453943252563, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.944089889526367, + 5.9646806716918945, + 11.789834022521973, + 5.680741310119629 + ], + "predicted_reocclusion": 0.38181453943252563, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.944089889526367, + 5.9646806716918945, + 11.789834022521973, + 5.680741310119629 + ], + "predicted_reocclusion": 0.38181453943252563, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.944089889526367, + 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"timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.022696495056152, + 5.886700630187988, + 11.643742561340332, + 5.592336177825928 + ], + "predicted_reocclusion": 0.3775891065597534, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.022696495056152, + 5.886700630187988, + 11.643742561340332, + 5.592336177825928 + ], + "predicted_reocclusion": 0.3775891065597534, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.022696495056152, + 5.886700630187988, + 11.643742561340332, + 5.592336177825928 + ], + "predicted_reocclusion": 0.3775891065597534, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.022696495056152, + 5.886700630187988, + 11.643742561340332, + 5.592336177825928 + ], + "predicted_reocclusion": 0.3775891065597534, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} +[CoppeliaSim:loadinfo] done. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/command.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/command.txt new file mode 100644 index 0000000000000000000000000000000000000000..b341d118789fca18699faa9842fb43dd2f15300b --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/command.txt @@ -0,0 +1 @@ +/workspace/envs/rlbench/bin/python -m eval.run_rlbench_rollout_eval --checkpoint /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt --output-dir /workspace/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box --tasks bimanual_push_box --episodes-per-task 1 --episode-length 20 --resolution 224 --device cuda --chunk-commit-steps 4 --headless --plan --allow-unsupervised-planning diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/rollout_eval.json b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..f8a7811c32bfbf34a0065c6f75eccf98e55222f2 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/rollout_eval.json @@ -0,0 +1,333 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 20, + "resolution": 224, + "reset_retries": 20, + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 0 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.932038307189941, + 5.923417568206787, + 11.743820190429688, + 5.640037536621094 + ], + "predicted_reocclusion": 0.3821515142917633, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.932038307189941, + 5.923417568206787, + 11.743820190429688, + 5.640037536621094 + ], + "predicted_reocclusion": 0.3821515142917633, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 2, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.932038307189941, + 5.923417568206787, + 11.743820190429688, + 5.640037536621094 + ], + "predicted_reocclusion": 0.3821515142917633, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 3, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.932038307189941, + 5.923417568206787, + 11.743820190429688, + 5.640037536621094 + ], + "predicted_reocclusion": 0.3821515142917633, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 4, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.556224822998047, + 6.212030410766602, + 5.807465076446533, + 12.084956169128418 + ], + "predicted_reocclusion": 0.3911585211753845, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 5, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.556224822998047, + 6.212030410766602, + 5.807465076446533, + 12.084956169128418 + ], + "predicted_reocclusion": 0.3911585211753845, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 6, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.556224822998047, + 6.212030410766602, + 5.807465076446533, + 12.084956169128418 + ], + "predicted_reocclusion": 0.3911585211753845, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { 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+ 5.821536064147949, + 12.160823822021484 + ], + "predicted_reocclusion": 0.3891414701938629, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 14, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.484657287597656, + 6.2001566886901855, + 5.821536064147949, + 12.160823822021484 + ], + "predicted_reocclusion": 0.3891414701938629, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 15, + "chosen_macro_mode": "lift_support_layer", + "planner_scores": [ + 11.484657287597656, + 6.2001566886901855, + 5.821536064147949, + 12.160823822021484 + ], + "predicted_reocclusion": 0.3891414701938629, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 16, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.024788856506348, + 5.845071792602539, + 11.599079132080078, + 5.550370216369629 + ], + "predicted_reocclusion": 0.3780691921710968, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 17, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.024788856506348, + 5.845071792602539, + 11.599079132080078, + 5.550370216369629 + ], + "predicted_reocclusion": 0.3780691921710968, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 18, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.024788856506348, + 5.845071792602539, + 11.599079132080078, + 5.550370216369629 + ], + "predicted_reocclusion": 0.3780691921710968, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 19, + "chosen_macro_mode": "widen_opening", + "planner_scores": [ + 13.024788856506348, + 5.845071792602539, + 11.599079132080078, + 5.550370216369629 + ], + "predicted_reocclusion": 0.3780691921710968, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 0, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/rollout_eval.md b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..fa9e76d747ef5c2c1311b5dc193f627c85ab1a0e --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt` +- Plan requested: `True` +- Plan applied: `True` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/stderr.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/stderr.txt new file mode 100644 index 0000000000000000000000000000000000000000..5e59d7b97d75398177c479be5f31b06dbac14246 --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/stderr.txt @@ -0,0 +1,4 @@ +/workspace/envs/rlbench/lib/python3.10/site-packages/torch/nn/modules/transformer.py:306: UserWarning: enable_nested_tensor is True, but self.use_nested_tensor is False because encoder_layer.norm_first was True + warnings.warn(f"enable_nested_tensor is True, but self.use_nested_tensor is False because {why_not_sparsity_fast_path}") +qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 181, resource id: 0, major code: 140 (Unknown), minor code: 20 +WARNING:root:not sure how _robot_shapes are used is used. diff --git a/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/stdout.txt b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/stdout.txt new file mode 100644 index 0000000000000000000000000000000000000000..e2d83217b46947725b1fc4a51c05bff947001bdd --- /dev/null +++ b/artifacts/reports/peract2_spatial_full_ep1/spatial_phase_seed17_plan_split/bimanual_push_box/stdout.txt @@ -0,0 +1,334 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt", + "plan_requested": true, + "plan_applied": true, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, 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b/artifacts/reports/reveal_handoff_compact_probe/reveal_benchmark.md @@ -0,0 +1,18 @@ +# Reveal Proxy Benchmark + +## handoff_compact +- checkpoint: /workspace/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_seed17/checkpoint_best.pt +- benchmark_mode: smoke +- episodes: 30.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.533 +- visibility_integral: 25.370 +- corridor_availability: 0.730 +- reocclusion_rate: 0.005 +- persistence_horizon_mae: 1.332 +- disturbance_cost: 0.259 +- success_ci_low: 0.433 +- success_ci_high: 0.633 +- foliage_proxy_success: 0.567 +- bag_proxy_success: 0.467 +- cloth_proxy_success: 0.567 diff --git a/artifacts/reports/reveal_handoff_compact_train_probe/reveal_benchmark.json b/artifacts/reports/reveal_handoff_compact_train_probe/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..cae0116eb7ae52536266a02a47771e358f948d49 --- /dev/null +++ b/artifacts/reports/reveal_handoff_compact_train_probe/reveal_benchmark.json @@ -0,0 +1,950 @@ +{ + "benchmark_config": { + "episodes": 30, + "benchmark_mode": "smoke", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 4 + }, + "compact_train": { + "per_task_success": { + "foliage_proxy": 0.43333333333333335, + "bag_proxy": 0.5333333333333333, + "cloth_proxy": 0.13333333333333333 + }, + "mean_success": 0.3666666666666667, + "visibility_integral": 45.610636938942804, + "corridor_availability": 0.8986233631769817, + "reocclusion_rate": 0.0001388888888888889, + "persistence_horizon_mae": 0.560460135930031, + "disturbance_cost": 0.35096211112621756, + "bootstrap_ci": { + "success": { + "mean": 0.36666667461395264, + "low": 0.2777777910232544, + "high": 0.46666666865348816 + }, + "visibility_integral": { + "mean": 45.61063766479492, + "low": 38.682017135620114, + "high": 51.843127441406246 + }, + "reocclusion_rate": { + "mean": 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"episode_index": 29, + "success": 0.0, + "visibility_integral": 74.57110595703125, + "corridor_availability": 0.9876543283462524, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.07302218675613403 + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/reveal_handoff_compact_train_probe/reveal_benchmark.md b/artifacts/reports/reveal_handoff_compact_train_probe/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..a2d23784acae9e21714d91fa881bbb58412436ed --- /dev/null +++ b/artifacts/reports/reveal_handoff_compact_train_probe/reveal_benchmark.md @@ -0,0 +1,18 @@ +# Reveal Proxy Benchmark + +## compact_train +- checkpoint: /workspace/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_seed17/checkpoint_best.pt +- benchmark_mode: smoke +- episodes: 30.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.367 +- visibility_integral: 45.611 +- corridor_availability: 0.899 +- reocclusion_rate: 0.000 +- persistence_horizon_mae: 0.560 +- disturbance_cost: 0.351 +- success_ci_low: 0.278 +- success_ci_high: 0.467 +- foliage_proxy_success: 0.433 +- bag_proxy_success: 0.533 +- cloth_proxy_success: 0.133 diff --git a/artifacts/reports/reveal_handoff_compare_serious_compact/reveal_benchmark.json b/artifacts/reports/reveal_handoff_compare_serious_compact/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..fc45bd1aef21a94447ae3b04e21dbaa5a0c88d29 --- /dev/null +++ b/artifacts/reports/reveal_handoff_compare_serious_compact/reveal_benchmark.json @@ -0,0 +1,6094 @@ +{ + "benchmark_config": { + "episodes": 100, + "benchmark_mode": "serious", + "ablation": "compact_world_model", + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 4 + }, + "base": { + "per_task_success": { + "foliage_proxy": 0.56, + "bag_proxy": 0.5, + "cloth_proxy": 0.69 + }, + "mean_success": 0.5833333333333334, + "visibility_integral": 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b/artifacts/reports/reveal_handoff_compare_serious_compact/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..a159de50bf76a3fd02f321c4a75920e52a87affe --- /dev/null +++ b/artifacts/reports/reveal_handoff_compare_serious_compact/reveal_benchmark.md @@ -0,0 +1,40 @@ +# Reveal Proxy Benchmark + +## base +- checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt +- benchmark_mode: serious +- episodes: 100.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.583 +- visibility_integral: 28.219 +- corridor_availability: 0.805 +- reocclusion_rate: 0.080 +- persistence_horizon_mae: 1.141 +- disturbance_cost: 0.377 +- success_ci_low: 0.527 +- success_ci_high: 0.637 +- foliage_proxy_success: 0.560 +- bag_proxy_success: 0.500 +- cloth_proxy_success: 0.690 + +## handoff +- checkpoint: /workspace/outputs/r3d_handoff/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_seed17/checkpoint_best.pt +- benchmark_mode: serious +- episodes: 100.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.520 +- visibility_integral: 23.349 +- corridor_availability: 0.691 +- reocclusion_rate: 0.006 +- persistence_horizon_mae: 1.575 +- disturbance_cost: 0.257 +- success_ci_low: 0.463 +- success_ci_high: 0.577 +- foliage_proxy_success: 0.660 +- bag_proxy_success: 0.320 +- cloth_proxy_success: 0.580 +- paired_paired_episodes_vs_base: 300.000 +- paired_success_delta_vs_base: -0.063 +- paired_visibility_delta_vs_base: -4.870 +- paired_reocclusion_delta_vs_base: -0.074 +- paired_disturbance_delta_vs_base: -0.119 diff --git a/artifacts/reports/reveal_phase_ablations_compact/ablations.json b/artifacts/reports/reveal_phase_ablations_compact/ablations.json new file mode 100644 index 0000000000000000000000000000000000000000..51130d507aa630a82ec8a1e756f6c58b388d4581 --- /dev/null +++ b/artifacts/reports/reveal_phase_ablations_compact/ablations.json @@ -0,0 +1,24171 @@ +{ + "full_model": { + 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0.05552208423614502 + } + ], + "paired_seed_summary_vs_full_model": { + "paired_episodes": 300.0, + "success_delta": 0.0, + "visibility_delta": 0.0, + "reocclusion_delta": 0.0, + "disturbance_delta": 0.0 + } + } +} \ No newline at end of file diff --git a/artifacts/reports/reveal_phase_ablations_compact/ablations.md b/artifacts/reports/reveal_phase_ablations_compact/ablations.md new file mode 100644 index 0000000000000000000000000000000000000000..c8066343e463e971709a8609ce3c9879340902cc --- /dev/null +++ b/artifacts/reports/reveal_phase_ablations_compact/ablations.md @@ -0,0 +1,108 @@ +# Reveal Ablations + +## full_model +- mean_success: 0.513 +- visibility_integral: 39.979 +- corridor_availability: 0.889 +- reocclusion_rate: 0.000 +- persistence_horizon_mae: 0.568 +- disturbance_cost: 0.344 +- chunk_commit_steps: 4.000 + +## no_geometry +- mean_success: 0.513 +- visibility_integral: 39.984 +- corridor_availability: 0.889 +- reocclusion_rate: 0.000 +- persistence_horizon_mae: 0.568 +- disturbance_cost: 0.344 +- chunk_commit_steps: 4.000 +- paired_paired_episodes_vs_full_model: 300.000 +- paired_success_delta_vs_full_model: 0.000 +- paired_visibility_delta_vs_full_model: 0.005 +- paired_reocclusion_delta_vs_full_model: 0.000 +- paired_disturbance_delta_vs_full_model: -0.000 + +## no_spatial_memory +- mean_success: 0.497 +- visibility_integral: 37.758 +- corridor_availability: 0.894 +- reocclusion_rate: 0.002 +- persistence_horizon_mae: 0.666 +- disturbance_cost: 0.418 +- chunk_commit_steps: 4.000 +- paired_paired_episodes_vs_full_model: 300.000 +- paired_success_delta_vs_full_model: -0.017 +- paired_visibility_delta_vs_full_model: -2.221 +- paired_reocclusion_delta_vs_full_model: 0.002 +- paired_disturbance_delta_vs_full_model: 0.074 + +## compact_world_model +- mean_success: 0.513 +- visibility_integral: 39.979 +- corridor_availability: 0.889 +- reocclusion_rate: 0.000 +- persistence_horizon_mae: 0.568 +- disturbance_cost: 0.344 +- chunk_commit_steps: 4.000 +- paired_paired_episodes_vs_full_model: 300.000 +- paired_success_delta_vs_full_model: 0.000 +- paired_visibility_delta_vs_full_model: 0.000 +- paired_reocclusion_delta_vs_full_model: 0.000 +- paired_disturbance_delta_vs_full_model: 0.000 + +## no_planner +- mean_success: 0.433 +- visibility_integral: 20.634 +- corridor_availability: 0.536 +- reocclusion_rate: 0.020 +- persistence_horizon_mae: 2.664 +- disturbance_cost: 0.186 +- chunk_commit_steps: 4.000 +- paired_paired_episodes_vs_full_model: 300.000 +- paired_success_delta_vs_full_model: -0.080 +- paired_visibility_delta_vs_full_model: -19.345 +- paired_reocclusion_delta_vs_full_model: 0.020 +- paired_disturbance_delta_vs_full_model: -0.158 + +## gaussian_candidates_only +- mean_success: 0.467 +- visibility_integral: 16.719 +- corridor_availability: 0.576 +- reocclusion_rate: 0.030 +- persistence_horizon_mae: 2.758 +- disturbance_cost: 0.478 +- chunk_commit_steps: 4.000 +- paired_paired_episodes_vs_full_model: 300.000 +- paired_success_delta_vs_full_model: -0.047 +- paired_visibility_delta_vs_full_model: -23.260 +- paired_reocclusion_delta_vs_full_model: 0.030 +- paired_disturbance_delta_vs_full_model: 0.134 + +## no_task_head +- mean_success: 0.513 +- visibility_integral: 38.129 +- corridor_availability: 0.886 +- reocclusion_rate: 0.000 +- persistence_horizon_mae: 0.629 +- disturbance_cost: 0.344 +- chunk_commit_steps: 4.000 +- paired_paired_episodes_vs_full_model: 300.000 +- paired_success_delta_vs_full_model: 0.000 +- paired_visibility_delta_vs_full_model: -1.850 +- paired_reocclusion_delta_vs_full_model: 0.000 +- paired_disturbance_delta_vs_full_model: 0.001 + +## no_support_mode_conditioning +- mean_success: 0.513 +- visibility_integral: 39.979 +- corridor_availability: 0.889 +- reocclusion_rate: 0.000 +- persistence_horizon_mae: 0.568 +- disturbance_cost: 0.344 +- chunk_commit_steps: 4.000 +- paired_paired_episodes_vs_full_model: 300.000 +- paired_success_delta_vs_full_model: 0.000 +- paired_visibility_delta_vs_full_model: 0.000 +- paired_reocclusion_delta_vs_full_model: 0.000 +- paired_disturbance_delta_vs_full_model: 0.000 diff --git a/artifacts/reports/reveal_phase_ablations_compact/ablations.partial.json b/artifacts/reports/reveal_phase_ablations_compact/ablations.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..96424af63862fa3a89e9a2c0e77c024d88e787ba --- /dev/null +++ b/artifacts/reports/reveal_phase_ablations_compact/ablations.partial.json @@ -0,0 +1,24286 @@ +{ + "checkpoint": "/workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt", + "episodes": 100, + "chunk_commit_steps": 4, + "sections": { + "full_model": { + "mean_success": 0.5133333333333333, + "visibility_integral": 39.9786700852712, + "corridor_availability": 0.8885786831378937, + "reocclusion_rate": 0.0, + "persistence_horizon_mae": 0.5676701073148498, + "disturbance_cost": 0.34366937071084974, + 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"disturbance_cost": 0.06726285070180893 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20099, + "episode_index": 99, + "success": 1.0, + "visibility_integral": 62.391136169433594, + "corridor_availability": 0.9850746393203735, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.05552208423614502 + } + ], + "paired_seed_summary_vs_baseline": { + "paired_episodes": 300.0, + "success_delta": -0.07, + "visibility_delta": 11.735518957972527, + "reocclusion_delta": -0.08006796906796908, + "disturbance_delta": -0.036429692779978116 + } + } +} \ No newline at end of file diff --git a/artifacts/reports/reveal_phase_compare_serious_compact/reveal_benchmark.md b/artifacts/reports/reveal_phase_compare_serious_compact/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..14e82b8d3f8a553e1ae45a99edb8af2214b47d64 --- /dev/null +++ b/artifacts/reports/reveal_phase_compare_serious_compact/reveal_benchmark.md @@ -0,0 +1,40 @@ +# Reveal Proxy Benchmark + +## baseline +- checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt +- benchmark_mode: serious +- episodes: 100.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.583 +- visibility_integral: 28.243 +- corridor_availability: 0.806 +- reocclusion_rate: 0.080 +- persistence_horizon_mae: 1.145 +- disturbance_cost: 0.380 +- success_ci_low: 0.527 +- success_ci_high: 0.637 +- foliage_proxy_success: 0.560 +- bag_proxy_success: 0.500 +- cloth_proxy_success: 0.690 + +## compact_phase +- checkpoint: /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt +- benchmark_mode: serious +- episodes: 100.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.513 +- visibility_integral: 39.979 +- corridor_availability: 0.889 +- reocclusion_rate: 0.000 +- persistence_horizon_mae: 0.568 +- disturbance_cost: 0.344 +- success_ci_low: 0.460 +- success_ci_high: 0.570 +- foliage_proxy_success: 0.570 +- bag_proxy_success: 0.420 +- cloth_proxy_success: 0.550 +- paired_paired_episodes_vs_baseline: 300.000 +- paired_success_delta_vs_baseline: -0.070 +- paired_visibility_delta_vs_baseline: 11.736 +- paired_reocclusion_delta_vs_baseline: -0.080 +- paired_disturbance_delta_vs_baseline: -0.036 diff --git a/artifacts/reports/reveal_phase_compare_serious_spatial_compactwm/reveal_benchmark.json b/artifacts/reports/reveal_phase_compare_serious_spatial_compactwm/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..249d89d80e652e6d7853372c4918946f41f3e947 --- /dev/null +++ b/artifacts/reports/reveal_phase_compare_serious_spatial_compactwm/reveal_benchmark.json @@ -0,0 +1,6094 @@ +{ + "benchmark_config": { + "episodes": 100, + "benchmark_mode": "serious", + "ablation": "compact_world_model", + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 4 + }, + "baseline": { + "per_task_success": { 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b/artifacts/reports/reveal_phase_compare_serious_spatial_compactwm/reveal_benchmark.md @@ -0,0 +1,40 @@ +# Reveal Proxy Benchmark + +## baseline +- checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt +- benchmark_mode: serious +- episodes: 100.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.583 +- visibility_integral: 28.219 +- corridor_availability: 0.805 +- reocclusion_rate: 0.080 +- persistence_horizon_mae: 1.139 +- disturbance_cost: 0.376 +- success_ci_low: 0.527 +- success_ci_high: 0.637 +- foliage_proxy_success: 0.560 +- bag_proxy_success: 0.500 +- cloth_proxy_success: 0.690 + +## spatial_phase +- checkpoint: /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt +- benchmark_mode: serious +- episodes: 100.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.493 +- visibility_integral: 17.257 +- corridor_availability: 0.621 +- reocclusion_rate: 0.012 +- persistence_horizon_mae: 2.377 +- disturbance_cost: 0.230 +- success_ci_low: 0.437 +- success_ci_high: 0.550 +- foliage_proxy_success: 0.640 +- bag_proxy_success: 0.330 +- cloth_proxy_success: 0.510 +- paired_paired_episodes_vs_baseline: 300.000 +- paired_success_delta_vs_baseline: -0.090 +- paired_visibility_delta_vs_baseline: -10.961 +- paired_reocclusion_delta_vs_baseline: -0.068 +- paired_disturbance_delta_vs_baseline: -0.147 diff --git a/artifacts/reports/reveal_phase_probe_compact/reveal_benchmark.json b/artifacts/reports/reveal_phase_probe_compact/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..1bb4580fc66dca594297602a48d3c9c3af4ab6ea --- /dev/null +++ b/artifacts/reports/reveal_phase_probe_compact/reveal_benchmark.json @@ -0,0 +1,1894 @@ +{ + "benchmark_config": { + "episodes": 30, + "benchmark_mode": "smoke", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + 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newline at end of file diff --git a/artifacts/reports/reveal_phase_probe_compact/reveal_benchmark.md b/artifacts/reports/reveal_phase_probe_compact/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..b9c2dc92012d50412f09c8094066b23c0ef5c9cf --- /dev/null +++ b/artifacts/reports/reveal_phase_probe_compact/reveal_benchmark.md @@ -0,0 +1,40 @@ +# Reveal Proxy Benchmark + +## baseline +- checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt +- benchmark_mode: smoke +- episodes: 30.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.578 +- visibility_integral: 28.384 +- corridor_availability: 0.797 +- reocclusion_rate: 0.078 +- persistence_horizon_mae: 1.229 +- disturbance_cost: 0.385 +- success_ci_low: 0.478 +- success_ci_high: 0.678 +- foliage_proxy_success: 0.400 +- bag_proxy_success: 0.600 +- cloth_proxy_success: 0.733 + +## compact_phase +- checkpoint: /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_compact_phase_seed17/checkpoint_best.pt +- benchmark_mode: smoke +- episodes: 30.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.478 +- visibility_integral: 42.792 +- corridor_availability: 0.898 +- reocclusion_rate: 0.000 +- persistence_horizon_mae: 0.581 +- disturbance_cost: 0.357 +- success_ci_low: 0.378 +- success_ci_high: 0.578 +- foliage_proxy_success: 0.433 +- bag_proxy_success: 0.500 +- cloth_proxy_success: 0.500 +- paired_paired_episodes_vs_baseline: 90.000 +- paired_success_delta_vs_baseline: -0.100 +- paired_visibility_delta_vs_baseline: 14.409 +- paired_reocclusion_delta_vs_baseline: -0.078 +- paired_disturbance_delta_vs_baseline: -0.028 diff --git a/artifacts/reports/reveal_phase_probe_spatial/reveal_benchmark.json b/artifacts/reports/reveal_phase_probe_spatial/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..a9714491a59ae25061cfa14ca3de66f2d84687b2 --- /dev/null +++ b/artifacts/reports/reveal_phase_probe_spatial/reveal_benchmark.json @@ -0,0 +1,1894 @@ +{ + "benchmark_config": { + "episodes": 30, + "benchmark_mode": "smoke", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 4 + }, + "baseline": { + "per_task_success": { + "foliage_proxy": 0.43333333333333335, + "bag_proxy": 0.6, + "cloth_proxy": 0.7333333333333333 + }, + "mean_success": 0.5888888888888889, + "visibility_integral": 28.18267682525847, + "corridor_availability": 0.8064017640219794, + "reocclusion_rate": 0.08084114959114959, + "persistence_horizon_mae": 1.2087497525357802, + "disturbance_cost": 0.377158420615726, + "bootstrap_ci": { + "success": { + "mean": 0.5888888835906982, + "low": 0.4888888895511627, + "high": 0.6888889074325562 + }, + "visibility_integral": { + "mean": 28.182674407958984, + "low": 22.59369330406189, 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0000000000000000000000000000000000000000..1a232895ef0ceeab1b151bab6e874fbad2b908ad --- /dev/null +++ b/artifacts/reports/reveal_phase_probe_spatial/reveal_benchmark.md @@ -0,0 +1,40 @@ +# Reveal Proxy Benchmark + +## baseline +- checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt +- benchmark_mode: smoke +- episodes: 30.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.589 +- visibility_integral: 28.183 +- corridor_availability: 0.806 +- reocclusion_rate: 0.081 +- persistence_horizon_mae: 1.209 +- disturbance_cost: 0.377 +- success_ci_low: 0.489 +- success_ci_high: 0.689 +- foliage_proxy_success: 0.433 +- bag_proxy_success: 0.600 +- cloth_proxy_success: 0.733 + +## spatial_phase +- checkpoint: /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt +- benchmark_mode: smoke +- episodes: 30.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.244 +- visibility_integral: 5.531 +- corridor_availability: 0.244 +- reocclusion_rate: 0.045 +- persistence_horizon_mae: 3.971 +- disturbance_cost: 0.246 +- success_ci_low: 0.166 +- success_ci_high: 0.333 +- foliage_proxy_success: 0.267 +- bag_proxy_success: 0.333 +- cloth_proxy_success: 0.133 +- paired_paired_episodes_vs_baseline: 90.000 +- paired_success_delta_vs_baseline: -0.344 +- paired_visibility_delta_vs_baseline: -22.651 +- paired_reocclusion_delta_vs_baseline: -0.036 +- paired_disturbance_delta_vs_baseline: -0.131 diff --git a/artifacts/reports/reveal_phase_probe_spatial_compactwm/reveal_benchmark.json b/artifacts/reports/reveal_phase_probe_spatial_compactwm/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..b870aedf9945abab6c8db39cbc3f3bc790999c6d --- /dev/null +++ b/artifacts/reports/reveal_phase_probe_spatial_compactwm/reveal_benchmark.json @@ -0,0 +1,950 @@ +{ + "benchmark_config": { + "episodes": 30, + "benchmark_mode": "smoke", + 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"corridor_availability": 0.604938268661499, + "reocclusion_rate": 0.0375, + "disturbance_cost": 0.014893227256834507 + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/reveal_phase_probe_spatial_compactwm/reveal_benchmark.md b/artifacts/reports/reveal_phase_probe_spatial_compactwm/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..27967ff33c14fc0f9de80e05223a914a6334cdbe --- /dev/null +++ b/artifacts/reports/reveal_phase_probe_spatial_compactwm/reveal_benchmark.md @@ -0,0 +1,18 @@ +# Reveal Proxy Benchmark + +## spatial_phase +- checkpoint: /workspace/outputs/r3d_handoff_phase/proxy_interaction_r3d_stage3_clip_rgbd_handoff_spatial_phase_seed17/checkpoint_best.pt +- benchmark_mode: smoke +- episodes: 30.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.522 +- visibility_integral: 18.450 +- corridor_availability: 0.660 +- reocclusion_rate: 0.010 +- persistence_horizon_mae: 2.146 +- disturbance_cost: 0.238 +- success_ci_low: 0.433 +- success_ci_high: 0.622 +- foliage_proxy_success: 0.567 +- bag_proxy_success: 0.467 +- cloth_proxy_success: 0.533 diff --git a/artifacts/reports/reveal_smoke_mod/reveal_benchmark.json b/artifacts/reports/reveal_smoke_mod/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..321d61a54c359d0f9bf8a161824a0b348fc0e73d --- /dev/null +++ b/artifacts/reports/reveal_smoke_mod/reveal_benchmark.json @@ -0,0 +1,350 @@ +{ + "benchmark_config": { + "episodes": 10, + "benchmark_mode": "smoke", + "ablation": null, + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 4 + }, + "full": { + "per_task_success": { + "foliage_proxy": 0.4, + "bag_proxy": 0.7, + "cloth_proxy": 0.7 + }, + "mean_success": 0.6, + "visibility_integral": 26.966827189922334, + "corridor_availability": 0.8104108611742655, + "reocclusion_rate": 0.05708333333333333, + "persistence_horizon_mae": 1.159845793546669, + "disturbance_cost": 0.3696815152963003, + "bootstrap_ci": { + "success": { + "mean": 0.6000000238418579, + "low": 0.4333333373069763, + "high": 0.7666666507720947 + }, + "visibility_integral": { + "mean": 26.966827392578125, + "low": 16.810314559936522, + "high": 36.51839771270752 + }, + "reocclusion_rate": { + "mean": 0.05708333104848862, + "low": 0.026656250655651092, + "high": 0.08917708750814199 + }, + "disturbance_cost": { + "mean": 0.3696814775466919, + "low": 0.2584053032100201, + "high": 0.47762678861618035 + } + }, + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "seed": 0, + "episode_index": 0, + "success": 1.0, + "visibility_integral": 4.828186988830566, + "corridor_availability": 0.8571428656578064, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.12747927010059357 + }, + { + "proxy_name": "foliage_proxy", + "seed": 1, + "episode_index": 1, + "success": 0.0, + "visibility_integral": 55.60550308227539, + "corridor_availability": 0.7777777910232544, + "reocclusion_rate": 0.2125, + "disturbance_cost": 0.8045298457145691 + }, + { + "proxy_name": "foliage_proxy", + "seed": 2, + "episode_index": 2, + "success": 1.0, + "visibility_integral": 4.436934471130371, + "corridor_availability": 0.8571428656578064, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.1259831339120865 + }, + { + "proxy_name": "foliage_proxy", + "seed": 3, + "episode_index": 3, + "success": 0.0, + "visibility_integral": 58.5324592590332, + "corridor_availability": 0.790123462677002, + "reocclusion_rate": 0.2, + "disturbance_cost": 0.7685022950172424 + }, + { + "proxy_name": "foliage_proxy", + "seed": 4, + "episode_index": 4, + "success": 0.0, + "visibility_integral": 61.277549743652344, + "corridor_availability": 0.790123462677002, + "reocclusion_rate": 0.2, + "disturbance_cost": 0.7899554371833801 + }, + { + "proxy_name": "foliage_proxy", + "seed": 5, + "episode_index": 5, + "success": 1.0, + "visibility_integral": 1.892545461654663, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.14651744067668915 + }, + { + "proxy_name": "foliage_proxy", + "seed": 6, + "episode_index": 6, + "success": 0.0, + "visibility_integral": 59.78177261352539, + "corridor_availability": 0.790123462677002, + "reocclusion_rate": 0.2, + "disturbance_cost": 0.7783470153808594 + }, + { + "proxy_name": "foliage_proxy", + "seed": 7, + "episode_index": 7, + "success": 1.0, + "visibility_integral": 1.0739634037017822, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.14714424312114716 + }, + { + "proxy_name": "foliage_proxy", + "seed": 8, + "episode_index": 8, + "success": 0.0, + "visibility_integral": 56.26618957519531, + "corridor_availability": 0.7654321193695068, + "reocclusion_rate": 0.2125, + "disturbance_cost": 0.8035768270492554 + }, + { + "proxy_name": "foliage_proxy", + "seed": 9, + "episode_index": 9, + "success": 0.0, + "visibility_integral": 57.957828521728516, + "corridor_availability": 0.790123462677002, + "reocclusion_rate": 0.2, + "disturbance_cost": 0.7794944047927856 + }, + { + "proxy_name": "bag_proxy", + "seed": 10000, + "episode_index": 0, + "success": 1.0, + "visibility_integral": 1.1127312183380127, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.10202638059854507 + }, + { + "proxy_name": "bag_proxy", + "seed": 10001, + "episode_index": 1, + "success": 0.0, + "visibility_integral": 61.49237823486328, + "corridor_availability": 0.8271604776382446, + "reocclusion_rate": 0.1625, + "disturbance_cost": 0.8028254508972168 + }, + { + "proxy_name": "bag_proxy", + "seed": 10002, + "episode_index": 2, + "success": 1.0, + "visibility_integral": 1.950039267539978, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.09511779993772507 + }, + { + "proxy_name": "bag_proxy", + "seed": 10003, + "episode_index": 3, + "success": 1.0, + "visibility_integral": 4.404876708984375, + "corridor_availability": 0.8571428656578064, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.1770411878824234 + }, + { + "proxy_name": "bag_proxy", + "seed": 10004, + "episode_index": 4, + "success": 0.0, + "visibility_integral": 62.11084747314453, + "corridor_availability": 0.8271604776382446, + "reocclusion_rate": 0.1625, + "disturbance_cost": 0.7916885018348694 + }, + { + "proxy_name": "bag_proxy", + "seed": 10005, + "episode_index": 5, + "success": 1.0, + "visibility_integral": 7.526779651641846, + "corridor_availability": 0.8181818127632141, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.17728854715824127 + }, + { + "proxy_name": "bag_proxy", + "seed": 10006, + "episode_index": 6, + "success": 1.0, + "visibility_integral": 6.070845603942871, + "corridor_availability": 0.800000011920929, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.2001762092113495 + }, + { + "proxy_name": "bag_proxy", + "seed": 10007, + "episode_index": 7, + "success": 1.0, + "visibility_integral": 1.2285606861114502, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.06485927850008011 + }, + { + "proxy_name": "bag_proxy", + "seed": 10008, + "episode_index": 8, + "success": 1.0, + "visibility_integral": 7.935556411743164, + "corridor_availability": 0.9090909361839294, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.19609975814819336 + }, + { + "proxy_name": "bag_proxy", + "seed": 10009, + "episode_index": 9, + "success": 0.0, + "visibility_integral": 61.00579071044922, + "corridor_availability": 0.8271604776382446, + "reocclusion_rate": 0.1625, + "disturbance_cost": 0.7976483702659607 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20000, + "episode_index": 0, + "success": 0.0, + "visibility_integral": 69.75213623046875, + "corridor_availability": 0.9876543283462524, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.6472876071929932 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20001, + "episode_index": 1, + "success": 1.0, + "visibility_integral": 0.8898828029632568, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.11104761809110641 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20002, + "episode_index": 2, + "success": 1.0, + "visibility_integral": 5.266777515411377, + "corridor_availability": 1.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.0497119165956974 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20003, + "episode_index": 3, + "success": 1.0, + "visibility_integral": 4.529282093048096, + "corridor_availability": 0.8571428656578064, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.08075161278247833 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20004, + "episode_index": 4, + "success": 1.0, + "visibility_integral": 5.723133087158203, + "corridor_availability": 0.875, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.11465300619602203 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20005, + "episode_index": 5, + "success": 1.0, + "visibility_integral": 1.7946100234985352, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.05993737652897835 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20006, + "episode_index": 6, + "success": 0.0, + "visibility_integral": 70.59026336669922, + "corridor_availability": 0.9876543283462524, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.576785147190094 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20007, + "episode_index": 7, + "success": 0.0, + "visibility_integral": 70.6759033203125, + "corridor_availability": 0.9876543283462524, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.6058518886566162 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20008, + "episode_index": 8, + "success": 1.0, + "visibility_integral": 1.4004747867584229, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.0988607332110405 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20009, + "episode_index": 9, + "success": 1.0, + "visibility_integral": 1.8910133838653564, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.06925715506076813 + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/reveal_smoke_mod/reveal_benchmark.md b/artifacts/reports/reveal_smoke_mod/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..edf6fea0502a04136c1f9e4ec371d3de5a6165ee --- /dev/null +++ b/artifacts/reports/reveal_smoke_mod/reveal_benchmark.md @@ -0,0 +1,18 @@ +# Reveal Proxy Benchmark + +## full +- checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt +- benchmark_mode: smoke +- episodes: 10.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.600 +- visibility_integral: 26.967 +- corridor_availability: 0.810 +- reocclusion_rate: 0.057 +- persistence_horizon_mae: 1.160 +- disturbance_cost: 0.370 +- success_ci_low: 0.433 +- success_ci_high: 0.767 +- foliage_proxy_success: 0.400 +- bag_proxy_success: 0.700 +- cloth_proxy_success: 0.700 diff --git a/artifacts/reports/reveal_smoke_nogeom/reveal_benchmark.json b/artifacts/reports/reveal_smoke_nogeom/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..79ec1f79fa27b8c15d6828804e1eeeadf175e4cf --- /dev/null +++ b/artifacts/reports/reveal_smoke_nogeom/reveal_benchmark.json @@ -0,0 +1,350 @@ +{ + "benchmark_config": { + "episodes": 10, + "benchmark_mode": "smoke", + "ablation": "no_geometry", + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 4 + }, + "nogeom": { + "per_task_success": { + "foliage_proxy": 0.4, + "bag_proxy": 0.7, + "cloth_proxy": 0.7 + }, + "mean_success": 0.6, + "visibility_integral": 26.849469248453776, + "corridor_availability": 0.8068829894065856, + "reocclusion_rate": 0.056666666666666664, + "persistence_horizon_mae": 1.1472377298367662, + "disturbance_cost": 0.36731116597851116, + "bootstrap_ci": { + "success": { + "mean": 0.6000000238418579, + "low": 0.4333333373069763, + "high": 0.7666666507720947 + }, + "visibility_integral": { + "mean": 26.849470138549805, + "low": 16.710167264938356, + "high": 36.47899084091186 + }, + "reocclusion_rate": { + "mean": 0.05666666850447655, + "low": 0.026250000996515154, + "high": 0.0887604285031557 + }, + "disturbance_cost": { + "mean": 0.36731117963790894, + "low": 0.2555070251226425, + "high": 0.47558233514428133 + } + }, + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "seed": 0, + "episode_index": 0, + "success": 1.0, + "visibility_integral": 4.823306083679199, + "corridor_availability": 0.8571428656578064, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.12688817083835602 + }, + { + "proxy_name": "foliage_proxy", + "seed": 1, + "episode_index": 1, + "success": 0.0, + "visibility_integral": 55.83536148071289, + "corridor_availability": 0.7777777910232544, + "reocclusion_rate": 0.2125, + "disturbance_cost": 0.8018982410430908 + }, + { + "proxy_name": "foliage_proxy", + "seed": 2, + "episode_index": 2, + "success": 1.0, + "visibility_integral": 4.4319610595703125, + "corridor_availability": 0.8571428656578064, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.12544803321361542 + }, + { + "proxy_name": "foliage_proxy", + "seed": 3, + "episode_index": 3, + "success": 0.0, + "visibility_integral": 58.77886199951172, + "corridor_availability": 0.790123462677002, + "reocclusion_rate": 0.2, + "disturbance_cost": 0.7655461430549622 + }, + { + "proxy_name": "foliage_proxy", + "seed": 4, + "episode_index": 4, + "success": 0.0, + "visibility_integral": 61.501651763916016, + "corridor_availability": 0.8024691343307495, + "reocclusion_rate": 0.1875, + "disturbance_cost": 0.787416398525238 + }, + { + "proxy_name": "foliage_proxy", + "seed": 5, + "episode_index": 5, + "success": 1.0, + "visibility_integral": 1.8893067836761475, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.14626525342464447 + }, + { + "proxy_name": "foliage_proxy", + "seed": 6, + "episode_index": 6, + "success": 0.0, + "visibility_integral": 60.014198303222656, + "corridor_availability": 0.790123462677002, + "reocclusion_rate": 0.2, + "disturbance_cost": 0.7757396697998047 + }, + { + "proxy_name": "foliage_proxy", + "seed": 7, + "episode_index": 7, + "success": 1.0, + "visibility_integral": 1.0723586082458496, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.1470116525888443 + }, + { + "proxy_name": "foliage_proxy", + "seed": 8, + "episode_index": 8, + "success": 0.0, + "visibility_integral": 56.49437713623047, + "corridor_availability": 0.7654321193695068, + "reocclusion_rate": 0.2125, + "disturbance_cost": 0.8009101152420044 + }, + { + "proxy_name": "foliage_proxy", + "seed": 9, + "episode_index": 9, + "success": 0.0, + "visibility_integral": 58.19449234008789, + "corridor_availability": 0.790123462677002, + 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1.7910480499267578, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.05976422503590584 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20006, + "episode_index": 6, + "success": 0.0, + "visibility_integral": 70.72895812988281, + "corridor_availability": 0.9876543283462524, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.572982668876648 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20007, + "episode_index": 7, + "success": 0.0, + "visibility_integral": 70.8116226196289, + "corridor_availability": 0.9876543283462524, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.60258549451828 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20008, + "episode_index": 8, + "success": 1.0, + "visibility_integral": 1.398749589920044, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.09871845692396164 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20009, + "episode_index": 9, + "success": 1.0, + "visibility_integral": 1.8874461650848389, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.06908324360847473 + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/reveal_smoke_nogeom/reveal_benchmark.md b/artifacts/reports/reveal_smoke_nogeom/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..360f2159276f66558a87604b4d6a973596366be0 --- /dev/null +++ b/artifacts/reports/reveal_smoke_nogeom/reveal_benchmark.md @@ -0,0 +1,18 @@ +# Reveal Proxy Benchmark + +## nogeom +- checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt +- benchmark_mode: smoke +- episodes: 10.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.600 +- visibility_integral: 26.849 +- corridor_availability: 0.807 +- reocclusion_rate: 0.057 +- persistence_horizon_mae: 1.147 +- disturbance_cost: 0.367 +- success_ci_low: 0.433 +- success_ci_high: 0.767 +- foliage_proxy_success: 0.400 +- bag_proxy_success: 0.700 +- cloth_proxy_success: 0.700 diff --git a/artifacts/reports/reveal_smoke_noplanner/reveal_benchmark.json b/artifacts/reports/reveal_smoke_noplanner/reveal_benchmark.json new file mode 100644 index 0000000000000000000000000000000000000000..93f22ea9906a788adfb6176afe36f50c8a941e98 --- /dev/null +++ b/artifacts/reports/reveal_smoke_noplanner/reveal_benchmark.json @@ -0,0 +1,350 @@ +{ + "benchmark_config": { + "episodes": 10, + "benchmark_mode": "smoke", + "ablation": "no_planner", + "proxies": [ + "foliage_proxy", + "bag_proxy", + "cloth_proxy" + ], + "chunk_commit_steps": 4 + }, + "noplanner": { + "per_task_success": { + "foliage_proxy": 0.4, + "bag_proxy": 0.7, + "cloth_proxy": 0.7 + }, + "mean_success": 0.6, + "visibility_integral": 27.822810935974122, + "corridor_availability": 0.8193180481592814, + "reocclusion_rate": 0.056666666666666664, + "persistence_horizon_mae": 1.1293431926408126, + "disturbance_cost": 0.3755801645418008, + "bootstrap_ci": { + "success": { + "mean": 0.6000000238418579, + "low": 0.4333333373069763, + "high": 0.7666666507720947 + }, + "visibility_integral": { + "mean": 27.82280731201172, + "low": 17.731965684890746, + "high": 37.18291788101196 + }, + "reocclusion_rate": { + "mean": 0.05666666850447655, + "low": 0.026250000996515154, + "high": 0.0887604285031557 + }, + "disturbance_cost": { + "mean": 0.3755801320075989, + "low": 0.26802514120936394, + "high": 0.48142484351992604 + } + }, + "episode_records": [ + { + "proxy_name": "foliage_proxy", + "seed": 0, + "episode_index": 0, + "success": 1.0, + "visibility_integral": 7.828192234039307, + "corridor_availability": 0.8999999761581421, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.1639125496149063 + }, + { + "proxy_name": "foliage_proxy", + "seed": 1, + "episode_index": 1, + "success": 0.0, + "visibility_integral": 55.92999267578125, + "corridor_availability": 0.7777777910232544, + "reocclusion_rate": 0.2125, + "disturbance_cost": 0.8013630509376526 + }, + { + "proxy_name": "foliage_proxy", + "seed": 2, + "episode_index": 2, + "success": 1.0, + "visibility_integral": 7.420688629150391, + "corridor_availability": 0.8999999761581421, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.16051602363586426 + }, + { + "proxy_name": "foliage_proxy", + "seed": 3, + "episode_index": 3, + "success": 0.0, + "visibility_integral": 58.8665657043457, + "corridor_availability": 0.790123462677002, + "reocclusion_rate": 0.2, + "disturbance_cost": 0.7649359703063965 + }, + { + "proxy_name": "foliage_proxy", + "seed": 4, + "episode_index": 4, + "success": 0.0, + "visibility_integral": 61.57546615600586, + "corridor_availability": 0.8024691343307495, + "reocclusion_rate": 0.1875, + "disturbance_cost": 0.7870662808418274 + }, + { + "proxy_name": "foliage_proxy", + "seed": 5, + "episode_index": 5, + "success": 1.0, + "visibility_integral": 1.8925485610961914, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.14651797711849213 + }, + { + "proxy_name": "foliage_proxy", + "seed": 6, + "episode_index": 6, + "success": 0.0, + "visibility_integral": 60.09257507324219, + "corridor_availability": 0.790123462677002, + "reocclusion_rate": 0.2, + "disturbance_cost": 0.7752788662910461 + }, + { + "proxy_name": "foliage_proxy", + "seed": 7, + "episode_index": 7, + "success": 1.0, + "visibility_integral": 1.0739643573760986, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.14714451134204865 + }, + { + "proxy_name": "foliage_proxy", + "seed": 8, + "episode_index": 8, + "success": 0.0, + "visibility_integral": 56.58570861816406, + "corridor_availability": 0.7654321193695068, + "reocclusion_rate": 0.2125, + "disturbance_cost": 0.8003709316253662 + }, + { + "proxy_name": "foliage_proxy", + "seed": 9, + "episode_index": 9, + "success": 0.0, + "visibility_integral": 58.27446365356445, + "corridor_availability": 0.790123462677002, + "reocclusion_rate": 0.2, + "disturbance_cost": 0.7765209674835205 + }, + { + "proxy_name": "bag_proxy", + "seed": 10000, + "episode_index": 0, + "success": 1.0, + "visibility_integral": 1.112730622291565, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.10202673822641373 + }, + { + "proxy_name": "bag_proxy", + "seed": 10001, + "episode_index": 1, + "success": 0.0, + "visibility_integral": 61.436119079589844, + "corridor_availability": 0.8271604776382446, + "reocclusion_rate": 0.1625, + "disturbance_cost": 0.8027268648147583 + }, + { + "proxy_name": "bag_proxy", + "seed": 10002, + "episode_index": 2, + "success": 1.0, + "visibility_integral": 1.950038194656372, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.09511832147836685 + }, + { + "proxy_name": "bag_proxy", + "seed": 10003, + "episode_index": 3, + "success": 1.0, + "visibility_integral": 7.271799087524414, + "corridor_availability": 0.8999999761581421, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.21068815886974335 + }, + { + "proxy_name": "bag_proxy", + "seed": 10004, + "episode_index": 4, + "success": 0.0, + "visibility_integral": 62.05445861816406, + "corridor_availability": 0.8271604776382446, + "reocclusion_rate": 0.1625, + "disturbance_cost": 0.7917326092720032 + }, + { + "proxy_name": "bag_proxy", + "seed": 10005, + "episode_index": 5, + "success": 1.0, + "visibility_integral": 10.458297729492188, + "corridor_availability": 0.8571428656578064, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.21337492763996124 + }, + { + "proxy_name": "bag_proxy", + "seed": 10006, + "episode_index": 6, + "success": 1.0, + "visibility_integral": 6.060564041137695, + "corridor_availability": 0.800000011920929, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.19989170134067535 + }, + { + "proxy_name": "bag_proxy", + "seed": 10007, + "episode_index": 7, + "success": 1.0, + "visibility_integral": 1.228560209274292, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.06485965102910995 + }, + { + "proxy_name": "bag_proxy", + "seed": 10008, + "episode_index": 8, + "success": 1.0, + "visibility_integral": 10.85383415222168, + "corridor_availability": 0.9285714030265808, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.23396624624729156 + }, + { + "proxy_name": "bag_proxy", + "seed": 10009, + "episode_index": 9, + "success": 0.0, + "visibility_integral": 60.948455810546875, + "corridor_availability": 0.8271604776382446, + "reocclusion_rate": 0.1625, + "disturbance_cost": 0.7974684238433838 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20000, + "episode_index": 0, + "success": 0.0, + "visibility_integral": 70.14453887939453, + "corridor_availability": 0.9876543283462524, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.6381727457046509 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20001, + "episode_index": 1, + "success": 1.0, + "visibility_integral": 0.8898845911026001, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.11104786396026611 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20002, + "episode_index": 2, + "success": 1.0, + "visibility_integral": 8.2667875289917, + "corridor_availability": 1.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.07000173628330231 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20003, + "episode_index": 3, + "success": 1.0, + "visibility_integral": 7.529292106628418, + "corridor_availability": 0.8999999761581421, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.0966918021440506 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20004, + "episode_index": 4, + "success": 1.0, + "visibility_integral": 7.723143100738525, + "corridor_availability": 0.8999999761581421, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.1261853724718094 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20005, + "episode_index": 5, + "success": 1.0, + "visibility_integral": 1.7946157455444336, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.05993800610303879 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20006, + "episode_index": 6, + "success": 0.0, + "visibility_integral": 71.03840637207031, + "corridor_availability": 0.9876543283462524, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.565571129322052 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20007, + "episode_index": 7, + "success": 0.0, + "visibility_integral": 71.09114074707031, + "corridor_availability": 0.9876543283462524, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.5961966514587402 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20008, + "episode_index": 8, + "success": 1.0, + "visibility_integral": 1.4004765748977661, + "corridor_availability": 0.6666666865348816, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.09886106848716736 + }, + { + "proxy_name": "cloth_proxy", + "seed": 20009, + "episode_index": 9, + "success": 1.0, + "visibility_integral": 1.8910192251205444, + "corridor_availability": 0.75, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.06925778836011887 + } + ] + } +} \ No newline at end of file diff --git a/artifacts/reports/reveal_smoke_noplanner/reveal_benchmark.md b/artifacts/reports/reveal_smoke_noplanner/reveal_benchmark.md new file mode 100644 index 0000000000000000000000000000000000000000..cb3d74e2f92100b7b442840d51c22366afde9f71 --- /dev/null +++ b/artifacts/reports/reveal_smoke_noplanner/reveal_benchmark.md @@ -0,0 +1,18 @@ +# Reveal Proxy Benchmark + +## noplanner +- checkpoint: /workspace/VLAarchtests/artifacts/outputs/r3d/proxy_interaction_r3d_stage3_clip_rgbd_seed17/checkpoint_best.pt +- benchmark_mode: smoke +- episodes: 10.000 +- chunk_commit_steps: 4.000 +- mean_success: 0.600 +- visibility_integral: 27.823 +- corridor_availability: 0.819 +- reocclusion_rate: 0.057 +- persistence_horizon_mae: 1.129 +- disturbance_cost: 0.376 +- success_ci_low: 0.433 +- success_ci_high: 0.767 +- foliage_proxy_success: 0.400 +- bag_proxy_success: 0.700 +- cloth_proxy_success: 0.700 diff --git a/artifacts/reports/reveal_teacher_audit_serious/teacher_audit.json b/artifacts/reports/reveal_teacher_audit_serious/teacher_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..485a6dfca55f9cbadfc5583237653064e40a59c6 --- /dev/null +++ b/artifacts/reports/reveal_teacher_audit_serious/teacher_audit.json @@ -0,0 +1,143 @@ +{ + "foliage_proxy": { + "teacher": { + "success": 1.0, + "reveal_achieved": 1.0, + "visibility_integral": 1.7035327208042146, + "hold_persistence": 0.7083333396911621, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.20757768491826908, + "utility": 1.1984322850910578 + }, + "reveal_only": { + "success": 0.0, + "reveal_achieved": 1.0, + "visibility_integral": 7.016945357322693, + "hold_persistence": 0.8822222292423249, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.5485413025155903, + "utility": 0.14052818827477673 + }, + "retrieve_only": { + "success": 0.0, + "reveal_achieved": 0.0, + "visibility_integral": 0.1256551413051784, + "hold_persistence": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.10546772918221427, + "utility": -0.09918497211695533 + }, + "no_hold": { + "success": 0.0, + "reveal_achieved": 1.0, + "visibility_integral": 4.2024247622489925, + "hold_persistence": 0.49111112594604495, + "reocclusion_rate": 0.125, + "disturbance_cost": 0.30007972777948894, + "utility": 0.08415262292756517 + }, + "random": { + "success": 0.0, + "reveal_achieved": 0.13, + "visibility_integral": 0.6589832836948335, + "hold_persistence": 0.06777777940034867, + "reocclusion_rate": 0.03125, + "disturbance_cost": 0.17935826813254083, + "utility": -0.1383813260077643 + } + }, + "bag_proxy": { + "teacher": { + "success": 1.0, + "reveal_achieved": 1.0, + "visibility_integral": 1.949692943096161, + "hold_persistence": 0.6660000026226044, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.21749358516049477, + "utility": 1.1965910622565739 + }, + "reveal_only": { + "success": 0.0, + "reveal_achieved": 1.0, + "visibility_integral": 6.949621486663818, + "hold_persistence": 0.8511111199855804, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.514974930424094, + "utility": 0.16761725590765494 + }, + "retrieve_only": { + "success": 0.0, + "reveal_achieved": 0.0, + "visibility_integral": 0.15974040940403939, + "hold_persistence": 0.0, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.16946772894379578, + "utility": -0.16148070847359378 + }, + "no_hold": { + "success": 0.0, + "reveal_achieved": 1.0, + "visibility_integral": 4.180441665649414, + "hold_persistence": 0.515555574297905, + "reocclusion_rate": 0.125, + "disturbance_cost": 0.3071227802507379, + "utility": 0.07845486046152331 + }, + "random": { + "success": 0.0, + "reveal_achieved": 0.09, + "visibility_integral": 0.6979192690365017, + "hold_persistence": 0.05555555671453476, + "reocclusion_rate": 0.02625, + "disturbance_cost": 0.21843393746502002, + "utility": -0.18173241834174145 + } + }, + "cloth_proxy": { + "teacher": { + "success": 1.0, + "reveal_achieved": 1.0, + "visibility_integral": 1.4376312232017516, + "hold_persistence": 0.7000000149011611, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.11544112723504864, + "utility": 1.276440435415155 + }, + "reveal_only": { + "success": 0.0, + "reveal_achieved": 1.0, + "visibility_integral": 7.2432004165649415, + "hold_persistence": 0.8944444507360458, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.35441256042915725, + "utility": 0.3471919054726944 + }, + "retrieve_only": { + "success": 0.0, + "reveal_achieved": 0.0, + "visibility_integral": 0.31568753795698284, + "hold_persistence": 0.00555555559694767, + "reocclusion_rate": 0.00625, + "disturbance_cost": 0.008948200676521419, + "utility": 0.0011417317810224923 + }, + "no_hold": { + "success": 0.0, + "reveal_achieved": 1.0, + "visibility_integral": 6.529645137786865, + "hold_persistence": 0.8944444507360458, + "reocclusion_rate": 0.0, + "disturbance_cost": 0.1580262162147249, + "utility": 0.5079004857482229 + }, + "random": { + "success": 0.01, + "reveal_achieved": 0.49, + "visibility_integral": 1.9101288713514806, + "hold_persistence": 0.314444450289011, + "reocclusion_rate": 0.0625, + "disturbance_cost": 0.030840634003598502, + "utility": 0.1661102545928766 + } + } +} \ No newline at end of file diff --git a/artifacts/reports/reveal_teacher_audit_serious/teacher_audit.md b/artifacts/reports/reveal_teacher_audit_serious/teacher_audit.md new file mode 100644 index 0000000000000000000000000000000000000000..9f949c16ee76dd3c0404a055570b7bc57595fcd9 --- /dev/null +++ b/artifacts/reports/reveal_teacher_audit_serious/teacher_audit.md @@ -0,0 +1,145 @@ +# Reveal Teacher Audit + +## foliage_proxy:reveal_only +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.198 +- baseline_utility: 0.141 +- success_delta: 1.000 +- utility_delta: 1.058 +- hold_delta: -0.174 +- reocclusion_delta: 0.000 +- disturbance_delta: -0.341 + +## foliage_proxy:retrieve_only +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.198 +- baseline_utility: -0.099 +- success_delta: 1.000 +- utility_delta: 1.298 +- hold_delta: 0.708 +- reocclusion_delta: 0.000 +- disturbance_delta: 0.102 + +## foliage_proxy:no_hold +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.198 +- baseline_utility: 0.084 +- success_delta: 1.000 +- utility_delta: 1.114 +- hold_delta: 0.217 +- reocclusion_delta: -0.125 +- disturbance_delta: -0.093 + +## foliage_proxy:random +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.198 +- baseline_utility: -0.138 +- success_delta: 1.000 +- utility_delta: 1.337 +- hold_delta: 0.641 +- reocclusion_delta: -0.031 +- disturbance_delta: 0.028 + +## bag_proxy:reveal_only +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.197 +- baseline_utility: 0.168 +- success_delta: 1.000 +- utility_delta: 1.029 +- hold_delta: -0.185 +- reocclusion_delta: 0.000 +- disturbance_delta: -0.297 + +## bag_proxy:retrieve_only +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.197 +- baseline_utility: -0.161 +- success_delta: 1.000 +- utility_delta: 1.358 +- hold_delta: 0.666 +- reocclusion_delta: 0.000 +- disturbance_delta: 0.048 + +## bag_proxy:no_hold +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.197 +- baseline_utility: 0.078 +- success_delta: 1.000 +- utility_delta: 1.118 +- hold_delta: 0.150 +- reocclusion_delta: -0.125 +- disturbance_delta: -0.090 + +## bag_proxy:random +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.197 +- baseline_utility: -0.182 +- success_delta: 1.000 +- utility_delta: 1.378 +- hold_delta: 0.610 +- reocclusion_delta: -0.026 +- disturbance_delta: -0.001 + +## cloth_proxy:reveal_only +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.276 +- baseline_utility: 0.347 +- success_delta: 1.000 +- utility_delta: 0.929 +- hold_delta: -0.194 +- reocclusion_delta: 0.000 +- disturbance_delta: -0.239 + +## cloth_proxy:retrieve_only +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.276 +- baseline_utility: 0.001 +- success_delta: 1.000 +- utility_delta: 1.275 +- hold_delta: 0.694 +- reocclusion_delta: -0.006 +- disturbance_delta: 0.106 + +## cloth_proxy:no_hold +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.000 +- teacher_utility: 1.276 +- baseline_utility: 0.508 +- success_delta: 1.000 +- utility_delta: 0.769 +- hold_delta: -0.194 +- reocclusion_delta: 0.000 +- disturbance_delta: -0.043 + +## cloth_proxy:random +- episodes: 100.000 +- teacher_success: 1.000 +- baseline_success: 0.010 +- teacher_utility: 1.276 +- baseline_utility: 0.166 +- success_delta: 0.990 +- utility_delta: 1.110 +- hold_delta: 0.386 +- reocclusion_delta: -0.062 +- disturbance_delta: 0.085 diff --git a/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json b/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json new file mode 100644 index 0000000000000000000000000000000000000000..1cdb6081db71b255cecc65c4e87fad724b6c4ed2 --- /dev/null +++ b/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.json @@ -0,0 +1,1674 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + 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"path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 178, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + }, + { + "timestep": 179, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 1, + "noop_fallbacks": 0 + } + ], + "success": 0.0, + "return": 0.0, + "path_recoveries": 177, + "noop_fallbacks": 0 + } + ], + "mean_success": 0.0, + "mean_return": 0.0 + } + }, + "mean_success": 0.0 +} \ No newline at end of file diff --git a/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.md b/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.md new file mode 100644 index 0000000000000000000000000000000000000000..d4910a99ee6ba00faa162dbaae144bb093acc583 --- /dev/null +++ b/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.md @@ -0,0 +1,14 @@ +# RLBench Rollout Eval + +- Checkpoint: `/workspace/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt` +- Plan requested: `False` +- Plan applied: `False` +- Support-mode conditioning: `True` +- Task conditioning: `True` +- Geometry enabled: `True` +- World-model mode: `checkpoint_default` +- Mean success: `0.000` + +## Per-task + +- `bimanual_push_box`: mean_success=0.000, returns=[0.0] diff --git a/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.partial.json b/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.partial.json new file mode 100644 index 0000000000000000000000000000000000000000..1cdb6081db71b255cecc65c4e87fad724b6c4ed2 --- /dev/null +++ b/artifacts/reports/rlbench_push_box_step1_ep1_ik_c1/rollout_eval.partial.json @@ -0,0 +1,1674 @@ +{ + "checkpoint": "/workspace/outputs/rlbench_current/rlbench_push_box_backbone_only_clip_step1/checkpoint_best.pt", + "plan_requested": false, + "plan_applied": false, + "planner_mode": "trainable", + "support_mode_conditioning": true, + "task_conditioning": true, + "geometry_enabled": true, + "world_model_mode": "checkpoint_default", + "episodes_per_task": 1, + "episode_length": 180, + "resolution": 224, + "reset_retries": 20, + "arm_mode": "ik", + "cameras": [ + "front", + "wrist_left", + "wrist_right" + ], + "tasks": { + "bimanual_push_box": { + "task_class": "BimanualPushBox", + "successes": [ + 0.0 + ], + "returns": [ + 0.0 + ], + "path_recoveries": [ + 177 + ], + "noop_fallbacks": [ + 0 + ], + "reset_retries": [ + 0 + ], + "episode_traces": [ + { + "language_goal": "push the box to the red area", + "steps": [ + { + "timestep": 0, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + "support_mode_conditioning": true, + "path_recoveries": 0, + "noop_fallbacks": 0 + }, + { + "timestep": 1, + "chosen_macro_mode": null, + "planner_scores": null, + "predicted_reocclusion": null, + 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