| /workspace/third_party/AnyBimanual/eval.py:183: UserWarning: |
| The version_base parameter is not specified. |
| Please specify a compatability version level, or None. |
| Will assume defaults for version 1.1 |
| @hydra.main(config_name="eval", config_path="conf") |
| /workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/defaults_list.py:251: UserWarning: In 'eval': Defaults list is missing `_self_`. See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/default_composition_order for more information |
| warnings.warn(msg, UserWarning) |
| /workspace/envs/rlbench/lib/python3.10/site-packages/hydra/core/default_element.py:124: UserWarning: In 'method/PERACT_BC': Usage of deprecated keyword in package header ' |
| See https://hydra.cc/docs/1.2/upgrades/1.0_to_1.1/changes_to_package_header for more information |
| deprecation_warning( |
| /workspace/envs/rlbench/lib/python3.10/site-packages/hydra/_internal/hydra.py:119: UserWarning: Future Hydra versions will no longer change working directory at job runtime by default. |
| See https://hydra.cc/docs/1.2/upgrades/1.1_to_1.2/changes_to_job_working_dir/ for more information. |
| ret = run_job( |
| [2026-03-30 20:23:52,292][root][INFO] - |
| method: |
| name: PERACT_BC |
| agent_type: leader_follower |
| robot_name: bimanual |
| image_crop_size: 64 |
| bounds_offset: |
| - 0.15 |
| voxel_sizes: |
| - 100 |
| include_prev_layer: false |
| num_latents: 2048 |
| latent_dim: 512 |
| transformer_depth: 6 |
| transformer_iterations: 1 |
| cross_heads: 1 |
| cross_dim_head: 64 |
| latent_heads: 8 |
| latent_dim_head: 64 |
| pos_encoding_with_lang: true |
| conv_downsample: true |
| lang_fusion_type: seq |
| voxel_patch_size: 5 |
| voxel_patch_stride: 5 |
| final_dim: 64 |
| low_dim_size: 4 |
| input_dropout: 0.1 |
| attn_dropout: 0.1 |
| decoder_dropout: 0.0 |
| lr: 0.0005 |
| lr_scheduler: false |
| num_warmup_steps: 3000 |
| optimizer: lamb |
| lambda_weight_l2: 1.0e-06 |
| trans_loss_weight: 1.0 |
| rot_loss_weight: 1.0 |
| grip_loss_weight: 1.0 |
| collision_loss_weight: 1.0 |
| rotation_resolution: 5 |
| activation: lrelu |
| norm: None |
| crop_augmentation: true |
| transform_augmentation: |
| apply_se3: true |
| aug_xyz: |
| - 0.125 |
| - 0.125 |
| - 0.125 |
| aug_rpy: |
| - 0.0 |
| - 0.0 |
| - 45.0 |
| aug_rot_resolution: ${method.rotation_resolution} |
| demo_augmentation: true |
| demo_augmentation_every_n: 10 |
| no_skip_connection: false |
| no_perceiver: false |
| no_language: false |
| keypoint_method: heuristic |
| rlbench: |
| task_name: perlf_release_subset3 |
| tasks: |
| - coordinated_push_box |
| - coordinated_lift_ball |
| - dual_push_buttons |
| demo_path: /workspace/baselines/AnyBimanual_subset3_demo_root |
| episode_length: 25 |
| cameras: |
| - over_shoulder_left |
| - over_shoulder_right |
| - overhead |
| - wrist_right |
| - wrist_left |
| - front |
| camera_resolution: |
| - 256 |
| - 256 |
| scene_bounds: |
| - -0.3 |
| - -0.5 |
| - 0.6 |
| - 0.7 |
| - 0.5 |
| - 1.6 |
| include_lang_goal_in_obs: true |
| time_in_state: true |
| headless: true |
| gripper_mode: BimanualDiscrete |
| arm_action_mode: BimanualEndEffectorPoseViaPlanning |
| action_mode: BimanualMoveArmThenGripper |
| framework: |
| tensorboard_logging: true |
| csv_logging: true |
| gpu: 0 |
| logdir: /workspace/baselines/AnyBimanual_release_eval_subset3 |
| start_seed: 0 |
| record_every_n: 5 |
| eval_envs: 1 |
| eval_from_eps_number: 0 |
| eval_episodes: 5 |
| eval_type: 60000 |
| eval_save_metrics: true |
| cinematic_recorder: |
| enabled: false |
| camera_resolution: |
| - 1280 |
| - 720 |
| fps: 30 |
| rotate_speed: 0.005 |
| save_path: /tmp/videos/ |
|
|
| [2026-03-30 20:23:52,302][root][INFO] - Using env device cuda:0. |
| [2026-03-30 20:23:52,328][root][INFO] - Evaluating seed 0. |
| [2026-03-30 20:23:52,328][root][INFO] - Using method PERACT_BC with type leader_follower |
| /workspace/third_party/AnyBimanual/eval.py:183: UserWarning: |
| The version_base parameter is not specified. |
| Please specify a compatability version level, or None. |
| Will assume defaults for version 1.1 |
| @hydra.main(config_name="eval", config_path="conf") |
| Weight: [60000] |
| /workspace/third_party/AnyBimanual/eval.py:183: UserWarning: |
| The version_base parameter is not specified. |
| Please specify a compatability version level, or None. |
| Will assume defaults for version 1.1 |
| @hydra.main(config_name="eval", config_path="conf") |
| /workspace/third_party/AnyBimanual/eval.py:183: UserWarning: |
| The version_base parameter is not specified. |
| Please specify a compatability version level, or None. |
| Will assume defaults for version 1.1 |
| @hydra.main(config_name="eval", config_path="conf") |
| [03/30/26 20:24:44] INFO INFO:root:eval_env: _independent_env_runner.py:130 |
| Launching env. |
| INFO INFO:root:Agent _independent_env_runner.py:133 |
| information: |
| INFO INFO:root:<yarr.agen _independent_env_runner.py:134 |
| ts.agent.LeaderFollo |
| werAgent object at |
| 0x7cbe7f895720> |
| [03/30/26 20:24:48] INFO INFO:root:Using dual panda robot environment.py:117 |
| INFO INFO:root:Setting control arm_action_modes.py:79 |
| mode for both robots |
| WARNING WARNING:root:not sure how task_environment.py:57 |
| _robot_shapes are used is |
| used. |
| INFO INFO:root:Evaluating _independent_env_runner.py:164 |
| weight 60000 |
| loaded weights from /workspace/baselines/AnyBimanual_release_eval_subset3/perlf_release_subset3/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_leader_layer_0.pt |
| loaded weights from /workspace/baselines/AnyBimanual_release_eval_subset3/perlf_release_subset3/PERACT_BC/seed0/weights/60000/checkpoint_peract_bc_follower_layer_0.pt |
|
Tasks: 0%| | 0/3 [00:00<?, ?it/s] |
|
Episodes: 0%| | 0/5 [00:00<?, ?it/s][A[03/30/26 20:24:51] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 0, |
| seed 0. |
| eval_demo_seed: 0 |
| [03/30/26 20:25:33] INFO INFO:root:total waypoints 4, (right=2, task.py:370 |
| left=2) |
| /workspace/third_party/AnyBimanual/third_party/YARR/yarr/utils/rollout_generator.py:76: UserWarning: Creating a tensor from a list of numpy.ndarrays is extremely slow. Please consider converting the list to a single numpy.ndarray with numpy.array() before converting to a tensor. (Triggered internally at /pytorch/torch/csrc/utils/tensor_new.cpp:253.) |
| prepped_data = {k: torch.tensor([v], device=self._env_device) for k, v in obs_history.items()} |
|
|
|
Episodes: 20%|██ | 1/5 [01:02<04:09, 62.27s/it][AEvaluating coordinated_push_box | Episode 0 | Score: 0.0 | Lang Goal: push the box to the red area |
| [03/30/26 20:25:53] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 1, |
| seed 1. |
| eval_demo_seed: 1 |
| [03/30/26 20:26:26] INFO INFO:root:total waypoints 4, (right=2, task.py:370 |
| left=2) |
| |
|
Episodes: 40%|████ | 2/5 [01:56<02:52, 57.65s/it][AEvaluating coordinated_push_box | Episode 1 | Score: 0.0 | Lang Goal: push the box to the red area |
| [03/30/26 20:26:48] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 2, |
| seed 2. |
| eval_demo_seed: 2 |
| [03/30/26 20:27:25] INFO INFO:root:total waypoints 4, (right=2, task.py:370 |
| left=2) |
|
|
|
Episodes: 60%|██████ | 3/5 [02:48<01:49, 54.88s/it][AEvaluating coordinated_push_box | Episode 2 | Score: 0.0 | Lang Goal: push the box to the red area |
| [03/30/26 20:27:39] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 3, |
| seed 3. |
| eval_demo_seed: 3 |
| [03/30/26 20:28:13] INFO INFO:root:total waypoints 4, (right=2, task.py:370 |
| left=2) |
| |
|
Episodes: 80%|████████ | 4/5 [03:37<00:52, 52.80s/it][AEvaluating coordinated_push_box | Episode 3 | Score: 0.0 | Lang Goal: push the box to the red area |
| [03/30/26 20:28:29] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 4, |
| seed 4. |
| eval_demo_seed: 4 |
| [03/30/26 20:29:04] INFO INFO:root:total waypoints 4, (right=2, task.py:370 |
| left=2) |
|
|
|
Episodes: 100%|██████████| 5/5 [04:28<00:00, 51.86s/it][A
Episodes: 100%|██████████| 5/5 [04:28<00:00, 53.62s/it] |
|
Tasks: 33%|███▎ | 1/3 [04:28<08:56, 268.33s/it]Evaluating coordinated_push_box | Episode 4 | Score: 0.0 | Lang Goal: push the box to the red area |
| Finished coordinated_push_box | Final Score: 0.0 |
|
|
| add_video needs package moviepy |
|
|
|
Episodes: 0%| | 0/5 [00:00<?, ?it/s][A[03/30/26 20:29:19] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 0, |
| seed 0. |
| eval_demo_seed: 0 |
| WARNING WARNING:root:not sure how task_environment.py:57 |
| _robot_shapes are used is |
| used. |
| [03/30/26 20:29:54] INFO INFO:root:total waypoints 8, (right=4, task.py:370 |
| left=4) |
| |
|
Episodes: 20%|██ | 1/5 [01:34<06:19, 94.91s/it][AEvaluating coordinated_lift_ball | Episode 0 | Score: 0.0 | Lang Goal: Lift the ball |
| [03/30/26 20:30:54] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 1, |
| seed 1. |
| eval_demo_seed: 1 |
| [03/30/26 20:31:29] INFO INFO:root:total waypoints 8, (right=4, task.py:370 |
| left=4) |
|
|
|
Episodes: 40%|████ | 2/5 [02:43<03:59, 79.68s/it][AEvaluating coordinated_lift_ball | Episode 1 | Score: 0.0 | Lang Goal: Lift the ball |
| [03/30/26 20:32:03] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 2, |
| seed 2. |
| eval_demo_seed: 2 |
| [03/30/26 20:32:35] INFO INFO:root:total waypoints 8, (right=4, task.py:370 |
| left=4) |
| |
|
Episodes: 60%|██████ | 3/5 [03:37<02:15, 67.88s/it][AEvaluating coordinated_lift_ball | Episode 2 | Score: 0.0 | Lang Goal: Lift the ball |
| [03/30/26 20:32:57] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 3, |
| seed 3. |
| eval_demo_seed: 3 |
| [03/30/26 20:33:26] INFO INFO:root:total waypoints 8, (right=4, task.py:370 |
| left=4) |
|
|
|
Episodes: 80%|████████ | 4/5 [04:27<01:00, 60.73s/it][AEvaluating coordinated_lift_ball | Episode 3 | Score: 0.0 | Lang Goal: Lift the ball |
| [03/30/26 20:33:47] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 4, |
| seed 4. |
| eval_demo_seed: 4 |
| [03/30/26 20:34:29] INFO INFO:root:total waypoints 8, (right=4, task.py:370 |
| left=4) |
| |
|
Episodes: 100%|██████████| 5/5 [05:35<00:00, 63.31s/it][A
Episodes: 100%|██████████| 5/5 [05:35<00:00, 67.09s/it] |
|
Tasks: 67%|██████▋ | 2/3 [10:04<05:08, 308.31s/it]Evaluating coordinated_lift_ball | Episode 4 | Score: 0.0 | Lang Goal: Lift the ball |
| Finished coordinated_lift_ball | Final Score: 0.0 |
|
|
| add_video needs package moviepy |
|
|
|
Episodes: 0%| | 0/5 [00:00<?, ?it/s][A[03/30/26 20:34:56] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 0, |
| seed 0. |
| eval_demo_seed: 0 |
| WARNING WARNING:root:not sure how task_environment.py:57 |
| _robot_shapes are used is |
| used. |
| [03/30/26 20:35:19] INFO INFO:root:total waypoints 4, (right=2, task.py:370 |
| left=2) |
| |
|
Episodes: 20%|██ | 1/5 [00:32<02:11, 32.97s/it][AEvaluating dual_push_buttons | Episode 0 | Score: 100.0 | Lang Goal: push the rose and the maroon buttons |
| [03/30/26 20:35:29] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 1, |
| seed 1. |
| eval_demo_seed: 1 |
| [03/30/26 20:36:00] INFO INFO:root:total waypoints 4, (right=2, task.py:370 |
| left=2) |
|
|
|
Episodes: 40%|████ | 2/5 [01:19<02:03, 41.21s/it][AEvaluating dual_push_buttons | Episode 1 | Score: 0.0 | Lang Goal: push the black and the violet buttons |
| [03/30/26 20:36:15] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 2, |
| seed 2. |
| eval_demo_seed: 2 |
| [03/30/26 20:36:44] INFO INFO:root:total waypoints 4, (right=2, task.py:370 |
| left=2) |
| |
|
Episodes: 60%|██████ | 3/5 [02:35<01:53, 56.82s/it][AEvaluating dual_push_buttons | Episode 2 | Score: 0.0 | Lang Goal: push the violet and the blue buttons |
| [03/30/26 20:37:31] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 3, |
| seed 3. |
| eval_demo_seed: 3 |
| [03/30/26 20:37:56] INFO INFO:root:total waypoints 4, (right=2, task.py:370 |
| left=2) |
|
|
|
Episodes: 80%|████████ | 4/5 [03:12<00:48, 48.98s/it][AEvaluating dual_push_buttons | Episode 3 | Score: 100.0 | Lang Goal: push the green and the violet buttons |
| [03/30/26 20:38:08] INFO INFO:root:eval_env: _independent_env_runner.py:191 |
| Starting episode 4, |
| seed 4. |
| eval_demo_seed: 4 |
| [03/30/26 20:38:40] INFO INFO:root:total waypoints 4, (right=2, task.py:370 |
| left=2) |
| |
|
Episodes: 100%|██████████| 5/5 [04:07<00:00, 51.06s/it][A
Episodes: 100%|██████████| 5/5 [04:07<00:00, 49.41s/it] |
|
Tasks: 100%|██████████| 3/3 [14:11<00:00, 280.44s/it]
Tasks: 100%|██████████| 3/3 [14:11<00:00, 283.97s/it] |
| Evaluating dual_push_buttons | Episode 4 | Score: 0.0 | Lang Goal: push the olive and the violet buttons |
| Finished dual_push_buttons | Final Score: 40.0 |
|
|
| add_video needs package moviepy |
| [03/30/26 20:39:03] INFO INFO:root:Finished _independent_env_runner.py:292 |
| evaluation. |
| [CoppeliaSim:loadinfo] done. |
| [W330 20:39:14.096037786 CudaIPCTypes.cpp:16] Producer process has been terminated before all shared CUDA tensors released. See Note [Sharing CUDA tensors] |
|
|
