Add files using upload-large-folder tool

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/AdjustToasterOvenTemperature/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.22
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/AdjustWaterTemperature/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.54
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseBlenderLid/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.06
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CloseFridge/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.86
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/CoffeeSetupMug/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.44
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceCabinetToCounter/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.48
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceDrawerToCounter/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.3
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceSinkToCounter/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.66
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/PickPlaceToasterToCounter/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.84
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOffSinkFaucet/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.9
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnOnStove/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/evals/pretrain/TurnSinkSpout/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.84
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_0.3_skip.yaml

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+experiment_name: mgd_sweep_from_trained_base
+policy_type: groot_mgd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only
+sweep:
+  mgd_token_mask_ratio:
+  - 0.3
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase3_mgd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 1.0
+    mgd_loss_weight: 1.0
+    mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio}
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_mask_ratio_ablation.yaml

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+experiment_name: mgd_sweep_from_trained_base
+policy_type: groot_mgd
+base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only
+sweep:
+  mgd_token_mask_ratio:
+  - 0.5
+  - 0.3
+  - 0.7
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase2_mgd_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 0.0
+    mgd_loss_weight: 1.0
+    mgd_sequence_hidden_dim: 512
+    mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio}
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false
+- name: phase3_mgd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 1.0
+    mgd_loss_weight: 1.0
+    mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio}
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/resolved_config.yaml

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+experiment_name: mgd_sweep_from_trained_base
+policy_type: groot_mgd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only
+sweep:
+  mgd_token_mask_ratio:
+  - 0.3
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase3_mgd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 1.0
+    mgd_loss_weight: 1.0
+    mgd_token_mask_ratio: 0.3
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false
+resolved_sweep:
+  mgd_token_mask_ratio: 0.3

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/selected_eval_config.yaml

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+experiment_name: mgd_sweep_from_trained_base
+policy_type: groot_mgd
+base_model_path: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase2
+output_root: ${HOME}/groot_robocasa/robocasa_v2/MGD_Processing_line_Only
+sweep:
+  mgd_token_mask_ratio:
+  - 0.3
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase3_mgd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 1.0
+    mgd_loss_weight: 1.0
+    mgd_token_mask_ratio: 0.3
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false
+resolved_sweep:
+  mgd_token_mask_ratio: 0.3

MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/summary.txt

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+Eval metadata
+- total_eval_time: 2h 59m 58s (10797.87s)
+- model_path: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase3
+- checkpoint_name: phase3
+- checkpoint_parent: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3
+- video_dir: /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3
+- task_set: my_atomic26
+- split: pretrain
+- n_envs: 10
+- n_episodes: 50
+- seed: 42
+- command: clvla/benchmarks/robocasa_v2/my_scripts/run_eval.py --model_path /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/phase3 --video_dir /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3 --task_set my_atomic26 --split pretrain --n_envs 10 --n_episodes 50 --port 2803 --seed 42
+- config_yaml_candidates:
+  - /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_0.3_skip.yaml
+  - /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_mask_ratio_ablation.yaml
+  - /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/resolved_config.yaml
+- selected_config_yaml: /home/seonho/groot_robocasa/robocasa_v2/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/resolved_config.yaml
+- copied_config_yamls:
+  - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_0.3_skip.yaml
+  - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/mgd_mask_ratio_ablation.yaml
+  - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/resolved_config.yaml
+  - /home/seonho/groot_robocasa/Experiments/MGD_Processing_line_Only/mgd_token_mask_ratio_0.3/selected_eval_config.yaml
+
+Stats for task group: MY_ATOMIC26
+CloseBlenderLid: 6 | None
+CloseFridge: 86 | None
+CloseToasterOvenDoor: 78 | None
+CoffeeSetupMug: 44 | None
+NavigateKitchen: 40 | None
+OpenCabinet: 50 | None
+OpenDrawer: 44 | None
+OpenStandMixerHead: 88 | None
+PickPlaceCounterToCabinet: 54 | None
+PickPlaceCounterToStove: 46 | None
+PickPlaceDrawerToCounter: 30 | None
+PickPlaceSinkToCounter: 66 | None
+PickPlaceToasterToCounter: 84 | None
+PickPlaceCabinetToCounter: 48 | None
+TurnOnElectricKettle: 86 | None
+TurnOnMicrowave: 22 | None
+TurnOffMicrowave: 26 | None
+OpenElectricKettleLid: 56 | None
+SlideDishwasherRack: 74 | None
+TurnOnSinkFaucet: 72 | None
+TurnSinkSpout: 84 | None
+TurnOffSinkFaucet: 90 | None
+AdjustWaterTemperature: 54 | None
+TurnOffStove: 22 | None
+TurnOnStove: 40 | None
+AdjustToasterOvenTemperature: 22 | None
+AVG: 54.3 | nan
+
+Eval completeness check
+- split: pretrain
+- expected tasks: 26
+- completed tasks: 26/26
+- expected episodes per task: 50
+CHECK PASSED

MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/AdjustWaterTemperature/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.52
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/CloseFridge/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.88
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/CoffeeSetupMug/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.42
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/PickPlaceCounterToStove/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.48
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/SlideDishwasherRack/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.68
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOffMicrowave/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.3
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOffSinkFaucet/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.88
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.5/evals/pretrain/TurnOnSinkFaucet/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.58
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/AdjustToasterOvenTemperature/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.3
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/AdjustWaterTemperature/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.46
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CloseBlenderLid/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.08
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CloseToasterOvenDoor/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.74
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/CoffeeSetupMug/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.38
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/NavigateKitchen/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.48
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenCabinet/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.42
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenDrawer/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.4
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenElectricKettleLid/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.54
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/OpenStandMixerHead/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.84
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCounterToCabinet/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.52
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceCounterToStove/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.52
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceDrawerToCounter/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.34
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/PickPlaceToasterToCounter/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.82
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/SlideDishwasherRack/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.6
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOffMicrowave/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.28
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOffStove/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.28
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnElectricKettle/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.76
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnMicrowave/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.22
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnSinkFaucet/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.56
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnOnStove/stats.json

@@ -0,0 +1,4 @@
+{
+    "num_episodes": 50,
+    "success_rate": 0.34
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/evals/pretrain/TurnSinkSpout/stats.json

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+{
+    "num_episodes": 50,
+    "success_rate": 0.92
+}

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/mgd_mask_ratio_ablation.yaml

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+experiment_name: mgd_sweep_from_trained_base
+policy_type: groot_mgd
+base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: /home/seonho/outputs/robocasa_v2/mgd_sweep_from_trained_base
+sweep:
+  mgd_token_mask_ratio:
+  - 0.7
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase2_mgd_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 0.0
+    mgd_loss_weight: 1.0
+    mgd_sequence_hidden_dim: 512
+    mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio}
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false
+- name: phase3_mgd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 1.0
+    mgd_loss_weight: 1.0
+    mgd_token_mask_ratio: ${sweep.mgd_token_mask_ratio}
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/resolved_config.yaml

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+experiment_name: mgd_sweep_from_trained_base
+policy_type: groot_mgd
+base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: /home/seonho/outputs/robocasa_v2/mgd_sweep_from_trained_base
+sweep:
+  mgd_token_mask_ratio:
+  - 0.7
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase2_mgd_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 0.0
+    mgd_loss_weight: 1.0
+    mgd_sequence_hidden_dim: 512
+    mgd_token_mask_ratio: 0.7
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false
+- name: phase3_mgd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 1.0
+    mgd_loss_weight: 1.0
+    mgd_token_mask_ratio: 0.7
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false
+resolved_sweep:
+  mgd_token_mask_ratio: 0.7

MGD_Processing_line_Only/mgd_token_mask_ratio_0.7/selected_eval_config.yaml

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+experiment_name: mgd_sweep_from_trained_base
+policy_type: groot_mgd
+base_model_path: /home/seonho/groot_robocasa/Atomic26_baseline/checkpoint-60000
+output_root: /home/seonho/outputs/robocasa_v2/mgd_sweep_from_trained_base
+sweep:
+  mgd_token_mask_ratio:
+  - 0.7
+dataset:
+  dataset_soup: my_atomic26_human
+training:
+  num_gpus: 2
+  batch_size: 64
+model: null
+phases:
+- name: phase2_mgd_only
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    preset: processing_line_only
+    tune_llm: false
+    tune_visual: false
+    tune_projector: false
+    tune_diffusion_model: false
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 0.0
+    mgd_loss_weight: 1.0
+    mgd_sequence_hidden_dim: 512
+    mgd_token_mask_ratio: 0.7
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false
+- name: phase3_mgd_fm
+  max_steps: 30000
+  save_steps: 0
+  trainable:
+    tune_llm: false
+    tune_visual: false
+    tune_projector: true
+    tune_diffusion_model: true
+  losses:
+    mgd_enabled: true
+    mgd_fm_loss_weight: 1.0
+    mgd_loss_weight: 1.0
+    mgd_token_mask_ratio: 0.7
+    mgd_use_cosine_loss: true
+    mgd_use_mse_loss: false
+resolved_sweep:
+  mgd_token_mask_ratio: 0.7