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robomme-mfm / dev /MoveCube_ep1.log
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CHL0e
MFM agent on RoboMME: dev (32 episodes) and pilot (2 episodes) results and logs
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[robomme_job] holy7c04205.rc.fas.harvard.edu SAPIEN_RENDER_DEVICE=cpu
/n/netscratch/sham_lab/Lab/chloe00/venvs/robomme/lib/python3.11/site-packages/sapien/__init__.py:18: UserWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html. The pkg_resources package is slated for removal as early as 2025-11-30. Refrain from using this package or pin to Setuptools<81.
import pkg_resources
/n/netscratch/sham_lab/Lab/chloe00/venvs/robomme/lib/python3.11/site-packages/sapien/_vulkan_tricks.py:37: UserWarning: Failed to find system libvulkan. Fallback to SAPIEN builtin libvulkan.
warn("Failed to find system libvulkan. Fallback to SAPIEN builtin libvulkan.")
/n/netscratch/sham_lab/Lab/chloe00/venvs/robomme/lib/python3.11/site-packages/torch/cuda/__init__.py:63: FutureWarning: The pynvml package is deprecated. Please install nvidia-ml-py instead. If you did not install pynvml directly, please report this to the maintainers of the package that installed pynvml for you.
import pynvml # type: ignore[import]
2026-10-20 20:55:58,863 - mani_skill - WARNING - Requested to use render device "sapien_cuda", but CUDA device was not found. Falling back to "cpu" device. Rendering might be disabled.
Task MoveCube episode 1 (seed 640101, difficulty easy): watch the video carefully, then move the cube to the target in the same manner as before
Video: 226 frames
Workspace: /n/netscratch/sham_lab/Lab/chloe00/robomme_runs/dev/MoveCube_ep1
2026-10-20 20:56:47,683 mfm.backend.codex_turn [codex] turn 1 model=gpt-6.1-sol resume=no images=3
2026-10-20 20:57:29,127 mfm.backend.codex_turn [codex] session 01a15bf5-f4d5-72d2-b8d3-f4663cfa2b39
[entry 1] {"op": "move", "xyz": [-0.035, -0.237, 0.13], "rpy_deg": [180, 0, -7], "gripper": "open"} -> ok=True status=ongoing (control step 49)
[entry 2] {"op": "move", "xyz": [-0.035, -0.237, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 77)
[entry 3] {"op": "move", "xyz": [-0.035, -0.237, 0.15], "gripper": "close"} -> ok=True status=ongoing (control step 105)
2026-10-20 20:57:47,538 mfm.backend.codex_turn [codex] turn 2 model=gpt-6.1-sol resume=yes images=4
[entry 4] {"op": "move", "xyz": [0.066, 0.05, 0.15], "rpy_deg": [180, 0, -41], "gripper": "close"} -> ok=True status=ongoing (control step 154)
[entry 5] {"op": "move", "xyz": [0.066, 0.05, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 182)
2026-10-20 20:58:20,542 mfm.backend.codex_turn [codex] turn 3 model=gpt-6.1-sol resume=yes images=3
[entry 6] {"op": "move", "xyz": [-0.004, -0.031, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 215)
2026-10-20 20:58:37,988 mfm.backend.codex_turn [codex] turn 4 model=gpt-6.1-sol resume=yes images=2
[entry 7] {"op": "move", "xyz": [-0.008, -0.03, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 245)
2026-10-20 20:58:53,943 mfm.backend.codex_turn [codex] turn 5 model=gpt-6.1-sol resume=yes images=2
[entry 8] {"op": "move", "xyz": [-0.078, -0.151, 0.17], "rpy_deg": [180, 0, -29], "gripper": "close"} -> ok=True status=ongoing (control step 281)
[entry 9] {"op": "move", "xyz": [-0.078, -0.151, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 317)
[entry 10] {"op": "move", "xyz": [-0.052, -0.105, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 336)
[entry 11] {"op": "move", "xyz": [-0.052, -0.105, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 367)
2026-10-20 20:59:45,489 mfm.backend.codex_turn [codex] turn 6 model=gpt-6.1-sol resume=yes images=5
[entry 12] {"op": "move", "xyz": [-0.015, 0.03, 0.17], "rpy_deg": [180, 0, 0], "gripper": "close"} -> ok=True status=ongoing (control step 393)
[entry 13] {"op": "move", "xyz": [-0.015, 0.03, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 425)
[entry 14] {"op": "move", "xyz": [-0.015, 0.008, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 438)
[entry 15] {"op": "move", "xyz": [-0.015, 0.008, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 469)
2026-10-20 21:00:32,771 mfm.backend.codex_turn [codex] turn 7 model=gpt-6.1-sol resume=yes images=5
[entry 16] {"op": "move", "xyz": [-0.015, 0.008, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 501)
[entry 17] {"op": "move", "xyz": [-0.015, -0.022, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 516)
[entry 18] {"op": "move", "xyz": [-0.015, -0.022, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 547)
2026-10-20 21:01:06,743 mfm.backend.codex_turn [codex] turn 8 model=gpt-6.1-sol resume=yes images=4
[entry 19] {"op": "move", "xyz": [-0.015, -0.12, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 572)
[entry 20] {"op": "move", "xyz": [-0.015, -0.12, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 604)
[entry 21] {"op": "move", "xyz": [-0.015, -0.103, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 617)
[entry 22] {"op": "move", "xyz": [-0.015, -0.103, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 648)
2026-10-20 21:01:58,929 mfm.backend.codex_turn [codex] turn 9 model=gpt-6.1-sol resume=yes images=5
[entry 23] {"op": "move", "xyz": [-0.085, -0.05, 0.17], "rpy_deg": [180, 0, 90], "gripper": "close"} -> ok=True status=ongoing (control step 710)
[entry 24] {"op": "move", "xyz": [-0.085, -0.05, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 747)
[entry 25] {"op": "move", "xyz": [-0.065, -0.05, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 769)
[entry 26] {"op": "move", "xyz": [-0.065, -0.05, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 800)
2026-10-20 21:03:13,870 mfm.backend.codex_turn [codex] turn 10 model=gpt-6.1-sol resume=yes images=5
[entry 27] {"op": "move", "xyz": [0.075, -0.05, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 839)
[entry 28] {"op": "move", "xyz": [0.075, -0.05, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 867)
[entry 29] {"op": "move", "xyz": [0.037, -0.05, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 889)
[entry 30] {"op": "move", "xyz": [0.037, -0.05, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 923)
2026-10-20 21:04:02,817 mfm.backend.codex_turn [codex] turn 11 model=gpt-6.1-sol resume=yes images=5
[entry 31] {"op": "move", "xyz": [-0.15, -0.2, 0.28], "gripper": "close"} -> ok=True status=ongoing (control step 961)
2026-10-20 21:04:48,980 mfm.backend.codex_turn [codex] turn 12 model=gpt-6.1-sol resume=yes images=2
[entry 32] {"op": "move", "xyz": [0.037, -0.05, 0.15], "gripper": "close"} -> ok=True status=ongoing (control step 1004)
[entry 33] {"op": "move", "xyz": [0.037, -0.05, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 1033)
[entry 34] {"op": "move", "xyz": [0.033, -0.05, 0.015], "gripper": "close"} -> ok=True status=ongoing (control step 1041)
2026-10-20 21:05:59,983 mfm.backend.codex_turn [codex] turn 13 model=gpt-6.1-sol resume=yes images=4
[entry 35] {"op": "move", "xyz": [0.033, -0.05, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 1076)
[entry 36] {"op": "move", "xyz": [-0.1, -0.24, 0.17], "gripper": "close"} -> ok=True status=ongoing (control step 1110)
[entry 37] {"op": "move", "xyz": [-0.1, -0.24, 0.015], "gripper": "open"} -> ok=True status=success (control step 1141)
2026-10-20 21:06:52,825 mfm.agent.base [mfm-robomme] the episode is over (success): flushing 1 queued step(s) and re-planning
{"task": "MoveCube", "episode": 1, "success": true, "stopped_by": "success", "entries": 37, "sim_steps": 1141}
Workspace: /n/netscratch/sham_lab/Lab/chloe00/robomme_runs/dev/MoveCube_ep1