diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..1c7292dfa56b491e047d4dcac380c43092de8f69 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +VLA-Adapter-UAV/eval_logs/Inference--CALVIN_Pro--4.50.log filter=lfs diff=lfs merge=lfs -text diff --git a/VLA-Adapter-UAV/eval_logs/Inference--CALVIN_Pro--4.50.log b/VLA-Adapter-UAV/eval_logs/Inference--CALVIN_Pro--4.50.log new file mode 100644 index 0000000000000000000000000000000000000000..3d55ed8d3b1c7b5036d3574ed71530df09f3bf6a --- /dev/null +++ b/VLA-Adapter-UAV/eval_logs/Inference--CALVIN_Pro--4.50.log @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34b6827c00a51d32673100c0259341ba2e8e94d91e70daa054c2fd8025063ebe +size 14522527 diff --git a/VLA-Adapter-UAV/eval_logs/Inference--Long_Pro--96.4.log b/VLA-Adapter-UAV/eval_logs/Inference--Long_Pro--96.4.log new file mode 100644 index 0000000000000000000000000000000000000000..9a9ca9214142377aec41f2a05de283655794b7fa --- /dev/null +++ b/VLA-Adapter-UAV/eval_logs/Inference--Long_Pro--96.4.log @@ -0,0 +1,7671 @@ +2025-09-15 21:41:37.895832: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`. +2025-09-15 21:41:37.927691: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2025-09-15 21:41:37.927741: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2025-09-15 21:41:37.928745: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2025-09-15 21:41:37.934496: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 AVX_VNNI AMX_TILE AMX_INT8 AMX_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2025-09-15 21:41:38.505812: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +[robosuite WARNING] No private macro file found! (macros.py:53) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:54) +[robosuite WARNING] To setup, run: python /ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:55) +2025-09-15 21:41:41.413531: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2348] TensorFlow was not built with CUDA kernel binaries compatible with compute capability 9.0. CUDA kernels will be jit-compiled from PTX, which could take 30 minutes or longer. +Using LIBERO constants: + NUM_ACTIONS_CHUNK = 8 + ACTION_DIM = 7 + PROPRIO_DIM = 8 + ACTION_PROPRIO_NORMALIZATION_TYPE = bounds_q99 +If needed, manually set the correct constants in `prismatic/vla/constants.py`! +Instantiating pretrained VLA policy... + + +Loaded model: +09/15 [21:42:04] INFO | >> Logging to local log file: run_libero_eval.py:211 + ./experiments/logs/EVAL-libero_ + 10-openvla-2025_09_15-21_41_53. + txt +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] + INFO | >> Task suite: libero_10 run_libero_eval.py:226 + 0%| | 0/10 [00:00> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=1--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:42:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 1 + INFO | >> # successes: 1 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:14<12:04, 14.79s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=2--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:42:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 2 + INFO | >> # successes: 2 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:29<11:51, 14.83s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=3--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:42:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 3 + INFO | >> # successes: 3 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:44<11:26, 14.62s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=4--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:43:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 4 + INFO | >> # successes: 4 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:57<10:45, 14.03s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=5--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:43:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 5 + INFO | >> # successes: 5 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:12<10:57, 14.61s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=6--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:43:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 6 + INFO | >> # successes: 6 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:25<10:19, 14.09s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=7--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:43:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 7 + INFO | >> # successes: 7 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:40<10:09, 14.17s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=8--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:44:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 8 + INFO | >> # successes: 8 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:54<10:02, 14.34s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=9--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:44:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 9 + INFO | >> # successes: 9 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [02:09<09:49, 14.38s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=10--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:44:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 10 + INFO | >> # successes: 10 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [02:22<09:14, 13.87s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=11--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:44:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 11 + INFO | >> # successes: 11 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:35<08:56, 13.75s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=12--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:44:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 12 + INFO | >> # successes: 12 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:48<08:31, 13.47s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=13--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:45:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 13 + INFO | >> # successes: 13 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [03:01<08:19, 13.49s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=14--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:45:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 14 + INFO | >> # successes: 14 (100.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [03:15<08:05, 13.49s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=15--success=False--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:45:46] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 15 + INFO | >> # successes: 14 (93.3%) run_libero_eval.py:226 + + 30%|███ | 15/50 [03:38<09:32, 16.35s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=16--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:45:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 16 + INFO | >> # successes: 15 (93.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [03:51<08:41, 15.34s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=17--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:46:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 17 + INFO | >> # successes: 16 (94.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [04:05<08:15, 15.01s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=18--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:46:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 18 + INFO | >> # successes: 17 (94.4%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [04:18<07:43, 14.49s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=19--success=False--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:46:50] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 19 + INFO | >> # successes: 17 (89.5%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [04:42<08:53, 17.21s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=20--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:47:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 20 + INFO | >> # successes: 18 (90.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [04:55<07:55, 15.84s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=21--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:47:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 21 + INFO | >> # successes: 19 (90.5%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [05:09<07:22, 15.27s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=22--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:47:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 22 + INFO | >> # successes: 20 (90.9%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [05:22<06:49, 14.61s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=23--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:47:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 23 + INFO | >> # successes: 21 (91.3%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [05:35<06:22, 14.17s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=24--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:47:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 24 + INFO | >> # successes: 22 (91.7%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [05:48<06:04, 14.02s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=25--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:48:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 25 + INFO | >> # successes: 23 (92.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [06:02<05:46, 13.84s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=26--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:48:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 26 + INFO | >> # successes: 24 (92.3%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [06:16<05:37, 14.08s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=27--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:48:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 27 + INFO | >> # successes: 25 (92.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [06:30<05:18, 13.83s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=28--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:48:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 28 + INFO | >> # successes: 26 (92.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [06:43<04:59, 13.59s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=29--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:49:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 29 + INFO | >> # successes: 27 (93.1%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [06:56<04:41, 13.39s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=30--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:49:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 30 + INFO | >> # successes: 28 (93.3%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [07:11<04:41, 14.05s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=31--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:49:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 31 + INFO | >> # successes: 29 (93.5%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [07:24<04:22, 13.80s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=32--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:49:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 32 + INFO | >> # successes: 30 (93.8%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [07:37<04:03, 13.53s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=33--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:49:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 33 + INFO | >> # successes: 31 (93.9%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [07:50<03:47, 13.39s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=34--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:50:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 34 + INFO | >> # successes: 32 (94.1%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [08:03<03:29, 13.09s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=35--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:50:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 35 + INFO | >> # successes: 33 (94.3%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [08:16<03:16, 13.13s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=36--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:50:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 36 + INFO | >> # successes: 34 (94.4%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [08:30<03:06, 13.30s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=37--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:50:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 37 + INFO | >> # successes: 35 (94.6%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [08:43<02:52, 13.25s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=38--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:51:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 38 + INFO | >> # successes: 36 (94.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [08:55<02:36, 13.00s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=39--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:51:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 39 + INFO | >> # successes: 37 (94.9%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [09:08<02:20, 12.78s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=40--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:51:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 40 + INFO | >> # successes: 38 (95.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [09:23<02:15, 13.52s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=41--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:51:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 41 + INFO | >> # successes: 39 (95.1%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [09:37<02:04, 13.78s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=42--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:51:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 42 + INFO | >> # successes: 40 (95.2%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [09:52<01:51, 13.94s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=43--success=False--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:52:24] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 43 + INFO | >> # successes: 40 (93.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [10:16<01:58, 16.99s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=44--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:52:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 44 + INFO | >> # successes: 41 (93.2%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [10:29<01:36, 16.01s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=45--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:52:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 45 + INFO | >> # successes: 42 (93.3%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [10:43<01:16, 15.27s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=46--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:53:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 46 + INFO | >> # successes: 43 (93.5%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [10:57<00:59, 15.00s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=47--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:53:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 47 + INFO | >> # successes: 44 (93.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [11:10<00:42, 14.26s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=48--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:53:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 48 + INFO | >> # successes: 45 (93.8%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [11:23<00:27, 13.95s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=49--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:53:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 49 + INFO | >> # successes: 46 (93.9%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [11:38<00:14, 14.35s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=50--success=False--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/15 [21:54:09] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 50 + INFO | >> # successes: 46 (92.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [12:01<00:00, 16.97s/it] 100%|██████████| 50/50 [12:01<00:00, 14.44s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.92 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.92 + 10%|█ | 1/10 [12:05<1:48:48, 725.44s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=51--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:54:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 51 + INFO | >> # successes: 47 (92.2%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:11<09:41, 11.86s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=52--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:54:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 52 + INFO | >> # successes: 48 (92.3%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:23<09:24, 11.77s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=53--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:54:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 53 + INFO | >> # successes: 49 (92.5%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:35<09:15, 11.82s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=54--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:54:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 54 + INFO | >> # successes: 50 (92.6%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:47<09:08, 11.92s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=55--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:55:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 55 + INFO | >> # successes: 51 (92.7%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:59<09:02, 12.07s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=56--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:55:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 56 + INFO | >> # successes: 52 (92.9%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:12<09:03, 12.36s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=57--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:55:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 57 + INFO | >> # successes: 53 (93.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:24<08:44, 12.19s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=58--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:55:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 58 + INFO | >> # successes: 54 (93.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:36<08:25, 12.03s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=59--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:56:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 59 + INFO | >> # successes: 55 (93.2%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:48<08:21, 12.23s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=60--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:56:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 60 + INFO | >> # successes: 56 (93.3%) run_libero_eval.py:226 + + 20%|██ | 10/50 [02:01<08:12, 12.32s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=61--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:56:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 61 + INFO | >> # successes: 57 (93.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:13<07:56, 12.21s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=62--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:56:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 62 + INFO | >> # successes: 58 (93.5%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:25<07:39, 12.10s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=63--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:56:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 63 + INFO | >> # successes: 59 (93.7%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:37<07:33, 12.26s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=64--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:57:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 64 + INFO | >> # successes: 60 (93.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:49<07:15, 12.11s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=65--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:57:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 65 + INFO | >> # successes: 61 (93.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [03:03<07:19, 12.57s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=66--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:57:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 66 + INFO | >> # successes: 62 (93.9%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [03:19<07:41, 13.58s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=67--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:57:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 67 + INFO | >> # successes: 63 (94.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:31<07:18, 13.29s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=68--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:57:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 68 + INFO | >> # successes: 64 (94.1%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:43<06:53, 12.94s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=69--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:58:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 69 + INFO | >> # successes: 65 (94.2%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:55<06:26, 12.48s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=70--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:58:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 70 + INFO | >> # successes: 66 (94.3%) run_libero_eval.py:226 + + 40%|████ | 20/50 [04:09<06:32, 13.07s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=71--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:58:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 71 + INFO | >> # successes: 67 (94.4%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [04:22<06:13, 12.86s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=72--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:58:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 72 + INFO | >> # successes: 68 (94.4%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [04:34<05:52, 12.59s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=73--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:58:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 73 + INFO | >> # successes: 69 (94.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:46<05:35, 12.43s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=74--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:59:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 74 + INFO | >> # successes: 70 (94.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:57<05:17, 12.23s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=75--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:59:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 75 + INFO | >> # successes: 71 (94.7%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [05:11<05:14, 12.59s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=76--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:59:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 76 + INFO | >> # successes: 72 (94.7%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [05:23<04:56, 12.36s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=77--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:59:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 77 + INFO | >> # successes: 73 (94.8%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [05:34<04:36, 12.02s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=78--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [21:59:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 78 + INFO | >> # successes: 74 (94.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:46<04:25, 12.09s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=79--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:00:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 79 + INFO | >> # successes: 75 (94.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:59<04:15, 12.16s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=80--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:00:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 80 + INFO | >> # successes: 76 (95.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [06:12<04:12, 12.61s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=81--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:00:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 81 + INFO | >> # successes: 77 (95.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [06:24<03:56, 12.46s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=82--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:00:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 82 + INFO | >> # successes: 78 (95.1%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [06:36<03:39, 12.21s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=83--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:00:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 83 + INFO | >> # successes: 79 (95.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [06:46<03:17, 11.64s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=84--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:01:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 84 + INFO | >> # successes: 80 (95.2%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:57<03:01, 11.31s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=85--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:01:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 85 + INFO | >> # successes: 81 (95.3%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [07:07<02:45, 11.07s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=86--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:01:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 86 + INFO | >> # successes: 82 (95.3%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [07:19<02:35, 11.11s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=87--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:01:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 87 + INFO | >> # successes: 83 (95.4%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [07:29<02:22, 10.97s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=88--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:01:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 88 + INFO | >> # successes: 84 (95.5%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [07:40<02:10, 10.90s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=89--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:02:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 89 + INFO | >> # successes: 85 (95.5%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [07:50<01:55, 10.52s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=90--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:02:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 90 + INFO | >> # successes: 86 (95.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [08:04<01:56, 11.67s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=91--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:02:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 91 + INFO | >> # successes: 87 (95.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [08:16<01:47, 11.95s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=92--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:02:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 92 + INFO | >> # successes: 88 (95.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [08:29<01:36, 12.12s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=93--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:02:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 93 + INFO | >> # successes: 89 (95.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [08:41<01:23, 11.96s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=94--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:03:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 94 + INFO | >> # successes: 90 (95.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [09:00<01:24, 14.08s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=95--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:03:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 95 + INFO | >> # successes: 91 (95.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [09:12<01:08, 13.68s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=96--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:03:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 96 + INFO | >> # successes: 92 (95.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [09:25<00:53, 13.30s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=97--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:03:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 97 + INFO | >> # successes: 93 (95.9%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [09:38<00:40, 13.36s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=98--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:04:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 98 + INFO | >> # successes: 94 (95.9%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [09:50<00:25, 12.97s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=99--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:04:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 99 + INFO | >> # successes: 95 (96.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [10:02<00:12, 12.63s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=100--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/15 [22:04:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 100 + INFO | >> # successes: 96 (96.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [10:14<00:00, 12.46s/it] 100%|██████████| 50/50 [10:14<00:00, 12.29s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.96 + 20%|██ | 2/10 [22:21<1:28:10, 661.30s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=101--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:04:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 101 + INFO | >> # successes: 97 (96.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:11<09:14, 11.31s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=102--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:04:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 102 + INFO | >> # successes: 98 (96.1%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:23<09:30, 11.88s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=103--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:05:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 103 + INFO | >> # successes: 99 (96.1%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:34<09:07, 11.64s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=104--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:05:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 104 + INFO | >> # successes: 100 (96.2%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:46<08:57, 11.68s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=105--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:05:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 105 + INFO | >> # successes: 101 (96.2%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:57<08:28, 11.30s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=106--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:05:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 106 + INFO | >> # successes: 102 (96.2%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:08<08:10, 11.15s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=107--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:05:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 107 + INFO | >> # successes: 103 (96.3%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:21<08:27, 11.79s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=108--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:05:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 108 + INFO | >> # successes: 104 (96.3%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:31<07:59, 11.42s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=109--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:06:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 109 + INFO | >> # successes: 105 (96.3%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:43<07:47, 11.40s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=110--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:06:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 110 + INFO | >> # successes: 106 (96.4%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:54<07:29, 11.25s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=111--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:06:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 111 + INFO | >> # successes: 107 (96.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:05<07:14, 11.14s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=112--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:06:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 112 + INFO | >> # successes: 108 (96.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:16<07:06, 11.21s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=113--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:06:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 113 + INFO | >> # successes: 109 (96.5%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:27<06:51, 11.11s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=114--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:07:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 114 + INFO | >> # successes: 110 (96.5%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:39<06:55, 11.55s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=115--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:07:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 115 + INFO | >> # successes: 111 (96.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:52<06:52, 11.79s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=116--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:07:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 116 + INFO | >> # successes: 112 (96.6%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [03:03<06:34, 11.60s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=117--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:07:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 117 + INFO | >> # successes: 113 (96.6%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:15<06:30, 11.82s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=118--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:07:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 118 + INFO | >> # successes: 114 (96.6%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:27<06:19, 11.84s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=119--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:08:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 119 + INFO | >> # successes: 115 (96.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:40<06:18, 12.19s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=120--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:08:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 120 + INFO | >> # successes: 116 (96.7%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:51<05:56, 11.89s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=121--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:08:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 121 + INFO | >> # successes: 117 (96.7%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [04:03<05:39, 11.70s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=122--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:08:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 122 + INFO | >> # successes: 118 (96.7%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [04:15<05:34, 11.95s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=123--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:08:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 123 + INFO | >> # successes: 119 (96.7%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:27<05:23, 12.00s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=124--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:09:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 124 + INFO | >> # successes: 120 (96.8%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:40<05:15, 12.13s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=125--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:09:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 125 + INFO | >> # successes: 121 (96.8%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:50<04:53, 11.74s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=126--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:09:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 126 + INFO | >> # successes: 122 (96.8%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [05:01<04:35, 11.46s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=127--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:09:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 127 + INFO | >> # successes: 123 (96.9%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [05:13<04:28, 11.67s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=128--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:09:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 128 + INFO | >> # successes: 124 (96.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:25<04:17, 11.70s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=129--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:10:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 129 + INFO | >> # successes: 125 (96.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:36<04:00, 11.48s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=130--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:10:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 130 + INFO | >> # successes: 126 (96.9%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:48<03:50, 11.55s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=131--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:10:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 131 + INFO | >> # successes: 127 (96.9%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:59<03:35, 11.34s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=132--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:10:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 132 + INFO | >> # successes: 128 (97.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [06:09<03:20, 11.15s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=133--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:10:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 133 + INFO | >> # successes: 129 (97.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [06:21<03:09, 11.17s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=134--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:11:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 134 + INFO | >> # successes: 130 (97.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:32<02:59, 11.21s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=135--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:11:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 135 + INFO | >> # successes: 131 (97.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [06:44<02:53, 11.59s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=136--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:11:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 136 + INFO | >> # successes: 132 (97.1%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [06:56<02:43, 11.70s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=137--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:11:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 137 + INFO | >> # successes: 133 (97.1%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [07:07<02:28, 11.43s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=138--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:11:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 138 + INFO | >> # successes: 134 (97.1%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [07:22<02:27, 12.32s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=139--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:12:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 139 + INFO | >> # successes: 135 (97.1%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [07:32<02:10, 11.88s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=140--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:12:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 140 + INFO | >> # successes: 136 (97.1%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [07:45<01:59, 11.97s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=141--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:12:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 141 + INFO | >> # successes: 137 (97.2%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [07:57<01:47, 11.96s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=142--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:12:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 142 + INFO | >> # successes: 138 (97.2%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [08:09<01:35, 11.96s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=143--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:12:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 143 + INFO | >> # successes: 139 (97.2%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [08:20<01:23, 11.90s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=144--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:12:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 144 + INFO | >> # successes: 140 (97.2%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [08:31<01:10, 11.68s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=145--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:13:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 145 + INFO | >> # successes: 141 (97.2%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [08:44<00:59, 11.98s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=146--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:13:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 146 + INFO | >> # successes: 142 (97.3%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [08:55<00:46, 11.67s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=147--success=False--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:13:45] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 147 + INFO | >> # successes: 142 (96.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [09:17<00:44, 14.87s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=148--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:13:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 148 + INFO | >> # successes: 143 (96.6%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [09:30<00:28, 14.29s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=149--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:14:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 149 + INFO | >> # successes: 144 (96.6%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [09:42<00:13, 13.64s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=150--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/15 [22:14:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 150 + INFO | >> # successes: 145 (96.7%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [09:54<00:00, 13.06s/it] 100%|██████████| 50/50 [09:54<00:00, 11.89s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9666666666666667 + 30%|███ | 3/10 [32:18<1:13:41, 631.64s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=151--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:14:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 151 + INFO | >> # successes: 146 (96.7%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:10<08:22, 10.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=152--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:14:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 152 + INFO | >> # successes: 147 (96.7%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:20<08:10, 10.22s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=153--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:14:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 153 + INFO | >> # successes: 148 (96.7%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:34<09:16, 11.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=154--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:15:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 154 + INFO | >> # successes: 149 (96.8%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:45<08:54, 11.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=155--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:15:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 155 + INFO | >> # successes: 150 (96.8%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:57<08:51, 11.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=156--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:15:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 156 + INFO | >> # successes: 151 (96.8%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:07<08:15, 11.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=157--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:15:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 157 + INFO | >> # successes: 152 (96.8%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:18<07:57, 11.10s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=158--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:15:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 158 + INFO | >> # successes: 153 (96.8%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:28<07:33, 10.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=159--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:16:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 159 + INFO | >> # successes: 154 (96.9%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:39<07:18, 10.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=160--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:16:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 160 + INFO | >> # successes: 155 (96.9%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:50<07:09, 10.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=161--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:16:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 161 + INFO | >> # successes: 156 (96.9%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:01<07:05, 10.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=162--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:16:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 162 + INFO | >> # successes: 157 (96.9%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:13<07:07, 11.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=163--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:16:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 163 + INFO | >> # successes: 158 (96.9%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:23<06:47, 11.01s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=164--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:16:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 164 + INFO | >> # successes: 159 (97.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:34<06:31, 10.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=165--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:17:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 165 + INFO | >> # successes: 160 (97.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:44<06:11, 10.62s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=166--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:17:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 166 + INFO | >> # successes: 161 (97.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:54<05:57, 10.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=167--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:17:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 167 + INFO | >> # successes: 162 (97.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:06<06:04, 11.05s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=168--success=False--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:17:54] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 168 + INFO | >> # successes: 162 (96.4%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:30<07:48, 14.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=169--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:18:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 169 + INFO | >> # successes: 163 (96.4%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:40<06:55, 13.41s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=170--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:18:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 170 + INFO | >> # successes: 164 (96.5%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:51<06:22, 12.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=171--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:18:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 171 + INFO | >> # successes: 165 (96.5%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [04:01<05:44, 11.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=172--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:18:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 172 + INFO | >> # successes: 166 (96.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [04:11<05:16, 11.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=173--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:18:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 173 + INFO | >> # successes: 167 (96.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:21<04:57, 11.01s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=174--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:18:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 174 + INFO | >> # successes: 168 (96.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:33<04:48, 11.09s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=175--success=False--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:19:19] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 175 + INFO | >> # successes: 168 (96.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:54<05:55, 14.22s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=176--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:19:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 176 + INFO | >> # successes: 169 (96.0%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [05:04<05:09, 12.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=177--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:19:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 177 + INFO | >> # successes: 170 (96.0%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [05:14<04:33, 11.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=178--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:19:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 178 + INFO | >> # successes: 171 (96.1%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:26<04:22, 11.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=179--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:20:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 179 + INFO | >> # successes: 172 (96.1%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:38<04:10, 11.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=180--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:20:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 180 + INFO | >> # successes: 173 (96.1%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:49<03:53, 11.67s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=181--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:20:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 181 + INFO | >> # successes: 174 (96.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:59<03:33, 11.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=182--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:20:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 182 + INFO | >> # successes: 175 (96.2%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [06:09<03:14, 10.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=183--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:20:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 183 + INFO | >> # successes: 176 (96.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [06:20<03:04, 10.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=184--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:20:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 184 + INFO | >> # successes: 177 (96.2%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:30<02:50, 10.63s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=185--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:21:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 185 + INFO | >> # successes: 178 (96.2%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [06:40<02:35, 10.36s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=186--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:21:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 186 + INFO | >> # successes: 179 (96.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [06:50<02:24, 10.32s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=187--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:21:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 187 + INFO | >> # successes: 180 (96.3%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [07:00<02:14, 10.35s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=188--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:21:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 188 + INFO | >> # successes: 181 (96.3%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [07:10<02:02, 10.23s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=189--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:21:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 189 + INFO | >> # successes: 182 (96.3%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [07:20<01:51, 10.17s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=190--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:21:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 190 + INFO | >> # successes: 183 (96.3%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [07:31<01:42, 10.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=191--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:22:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 191 + INFO | >> # successes: 184 (96.3%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [07:41<01:31, 10.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=192--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:22:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 192 + INFO | >> # successes: 185 (96.4%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [07:51<01:21, 10.13s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=193--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:22:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 193 + INFO | >> # successes: 186 (96.4%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [08:02<01:13, 10.56s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=194--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:22:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 194 + INFO | >> # successes: 187 (96.4%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [08:15<01:07, 11.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=195--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:22:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 195 + INFO | >> # successes: 188 (96.4%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [08:26<00:55, 11.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=196--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:23:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 196 + INFO | >> # successes: 189 (96.4%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [08:36<00:42, 10.71s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=197--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:23:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 197 + INFO | >> # successes: 190 (96.4%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [08:50<00:35, 11.69s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=198--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:23:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 198 + INFO | >> # successes: 191 (96.5%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [09:00<00:22, 11.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=199--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:23:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 199 + INFO | >> # successes: 192 (96.5%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [09:09<00:10, 10.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=200--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/15 [22:23:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 200 + INFO | >> # successes: 193 (96.5%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [09:20<00:00, 10.79s/it] 100%|██████████| 50/50 [09:20<00:00, 11.22s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.965 + 40%|████ | 4/10 [41:41<1:00:26, 604.48s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=201--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:23:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 201 + INFO | >> # successes: 194 (96.5%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:10<08:23, 10.28s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=202--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:24:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 202 + INFO | >> # successes: 195 (96.5%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:20<08:02, 10.05s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=203--success=False--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:24:30] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 203 + INFO | >> # successes: 195 (96.1%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:42<12:15, 15.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=204--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:24:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 204 + INFO | >> # successes: 196 (96.1%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:52<10:16, 13.41s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=205--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:24:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 205 + INFO | >> # successes: 197 (96.1%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:03<09:21, 12.48s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=206--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:25:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 206 + INFO | >> # successes: 198 (96.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:14<08:44, 11.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=207--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:25:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 207 + INFO | >> # successes: 199 (96.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:26<08:36, 12.00s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=208--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:25:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 208 + INFO | >> # successes: 200 (96.2%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:37<08:07, 11.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=209--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:25:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 209 + INFO | >> # successes: 201 (96.2%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:47<07:37, 11.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=210--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:25:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 210 + INFO | >> # successes: 202 (96.2%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:57<07:14, 10.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=211--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:25:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 211 + INFO | >> # successes: 203 (96.2%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:07<06:57, 10.71s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=212--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:26:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 212 + INFO | >> # successes: 204 (96.2%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:17<06:39, 10.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=213--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:26:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 213 + INFO | >> # successes: 205 (96.2%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:27<06:22, 10.35s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=214--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:26:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 214 + INFO | >> # successes: 206 (96.3%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:38<06:12, 10.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=215--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:26:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 215 + INFO | >> # successes: 207 (96.3%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:48<06:02, 10.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=216--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:26:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 216 + INFO | >> # successes: 208 (96.3%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:58<05:52, 10.37s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=217--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:26:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 217 + INFO | >> # successes: 209 (96.3%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:09<05:46, 10.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=218--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:27:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 218 + INFO | >> # successes: 210 (96.3%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:19<05:32, 10.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=219--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:27:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 219 + INFO | >> # successes: 211 (96.3%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:31<05:37, 10.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=220--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:27:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 220 + INFO | >> # successes: 212 (96.4%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:43<05:30, 11.00s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=221--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:27:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 221 + INFO | >> # successes: 213 (96.4%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [03:54<05:18, 10.98s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=222--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:27:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 222 + INFO | >> # successes: 214 (96.4%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [04:04<05:01, 10.75s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=223--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:28:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 223 + INFO | >> # successes: 215 (96.4%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:14<04:47, 10.66s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=224--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:28:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 224 + INFO | >> # successes: 216 (96.4%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:25<04:34, 10.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=225--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:28:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 225 + INFO | >> # successes: 217 (96.4%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:35<04:23, 10.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=226--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:28:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 226 + INFO | >> # successes: 218 (96.5%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [04:45<04:08, 10.35s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=227--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:28:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 227 + INFO | >> # successes: 219 (96.5%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [04:55<03:58, 10.37s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=228--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:28:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 228 + INFO | >> # successes: 220 (96.5%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:06<03:50, 10.47s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=229--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:29:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 229 + INFO | >> # successes: 221 (96.5%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:16<03:38, 10.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=230--success=False--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:29:27] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 230 + INFO | >> # successes: 221 (96.1%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:38<04:37, 13.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=231--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:29:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 231 + INFO | >> # successes: 222 (96.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:49<04:04, 12.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=232--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:29:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 232 + INFO | >> # successes: 223 (96.1%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [06:00<03:43, 12.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=233--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:29:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 233 + INFO | >> # successes: 224 (96.1%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [06:11<03:20, 11.80s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=234--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:30:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 234 + INFO | >> # successes: 225 (96.2%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:22<03:07, 11.75s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=235--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:30:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 235 + INFO | >> # successes: 226 (96.2%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [06:32<02:48, 11.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=236--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:30:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 236 + INFO | >> # successes: 227 (96.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [06:45<02:45, 11.82s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=237--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:30:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 237 + INFO | >> # successes: 228 (96.2%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [06:56<02:28, 11.41s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=238--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:30:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 238 + INFO | >> # successes: 229 (96.2%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [07:07<02:14, 11.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=239--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:31:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 239 + INFO | >> # successes: 230 (96.2%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [07:17<01:59, 10.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=240--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:31:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 240 + INFO | >> # successes: 231 (96.2%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [07:27<01:48, 10.82s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=241--success=False--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:31:38] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 241 + INFO | >> # successes: 231 (95.9%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [07:50<02:08, 14.23s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=242--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:31:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 242 + INFO | >> # successes: 232 (95.9%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [08:01<01:47, 13.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=243--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:32:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 243 + INFO | >> # successes: 233 (95.9%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [08:11<01:27, 12.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=244--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:32:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 244 + INFO | >> # successes: 234 (95.9%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [08:22<01:12, 12.01s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=245--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:32:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 245 + INFO | >> # successes: 235 (95.9%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [08:34<00:59, 11.92s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=246--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:32:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 246 + INFO | >> # successes: 236 (95.9%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [08:45<00:46, 11.72s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=247--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:32:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 247 + INFO | >> # successes: 237 (96.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [08:56<00:34, 11.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=248--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:32:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 248 + INFO | >> # successes: 238 (96.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [09:06<00:22, 11.10s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=249--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:33:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 249 + INFO | >> # successes: 239 (96.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [09:17<00:10, 10.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=250--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/15 [22:33:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 250 + INFO | >> # successes: 240 (96.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [09:28<00:00, 11.03s/it] 100%|██████████| 50/50 [09:28<00:00, 11.37s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.94 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.96 + 50%|█████ | 5/10 [51:12<49:22, 592.54s/it] [Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=251--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:33:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 251 + INFO | >> # successes: 241 (96.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:09<07:42, 9.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=252--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:33:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 252 + INFO | >> # successes: 242 (96.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:17<06:57, 8.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=253--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:33:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 253 + INFO | >> # successes: 243 (96.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:25<06:21, 8.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=254--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:33:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 254 + INFO | >> # successes: 244 (96.1%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:33<06:12, 8.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=255--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:33:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 255 + INFO | >> # successes: 245 (96.1%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:40<05:55, 7.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=256--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:34:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 256 + INFO | >> # successes: 246 (96.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:48<05:48, 7.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=257--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:34:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 257 + INFO | >> # successes: 247 (96.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:55<05:28, 7.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=258--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:34:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 258 + INFO | >> # successes: 248 (96.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:03<05:22, 7.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=259--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:34:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 259 + INFO | >> # successes: 249 (96.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:10<05:10, 7.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=260--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:34:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 260 + INFO | >> # successes: 250 (96.2%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:18<05:04, 7.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=261--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:34:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 261 + INFO | >> # successes: 251 (96.2%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:26<04:59, 7.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=262--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:34:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 262 + INFO | >> # successes: 252 (96.2%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:33<04:48, 7.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=263--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:34:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 263 + INFO | >> # successes: 253 (96.2%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:40<04:36, 7.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=264--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:35:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 264 + INFO | >> # successes: 254 (96.2%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:49<04:38, 7.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=265--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:35:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 265 + INFO | >> # successes: 255 (96.2%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:57<04:31, 7.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=266--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:35:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 266 + INFO | >> # successes: 256 (96.2%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:04<04:16, 7.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=267--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:35:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 267 + INFO | >> # successes: 257 (96.3%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:11<04:03, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=268--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:35:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 268 + INFO | >> # successes: 258 (96.3%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:18<03:52, 7.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=269--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:35:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 269 + INFO | >> # successes: 259 (96.3%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:25<03:45, 7.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=270--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:35:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 270 + INFO | >> # successes: 260 (96.3%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:38<04:31, 9.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=271--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:36:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 271 + INFO | >> # successes: 261 (96.3%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:46<04:10, 8.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=272--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:36:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 272 + INFO | >> # successes: 262 (96.3%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:54<03:58, 8.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=273--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:36:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 273 + INFO | >> # successes: 263 (96.3%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:02<03:45, 8.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=274--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:36:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 274 + INFO | >> # successes: 264 (96.4%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:10<03:33, 8.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=275--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:36:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 275 + INFO | >> # successes: 265 (96.4%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:17<03:18, 7.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=276--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:36:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 276 + INFO | >> # successes: 266 (96.4%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:26<03:15, 8.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=277--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:36:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 277 + INFO | >> # successes: 267 (96.4%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:33<03:02, 7.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=278--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:37:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 278 + INFO | >> # successes: 268 (96.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:42<02:58, 8.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=279--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:37:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 279 + INFO | >> # successes: 269 (96.4%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:50<02:54, 8.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=280--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:37:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 280 + INFO | >> # successes: 270 (96.4%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:59<02:47, 8.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=281--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:37:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 281 + INFO | >> # successes: 271 (96.4%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:07<02:38, 8.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=282--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:37:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 282 + INFO | >> # successes: 272 (96.5%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:15<02:29, 8.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=283--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:37:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 283 + INFO | >> # successes: 273 (96.5%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:24<02:20, 8.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=284--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:37:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 284 + INFO | >> # successes: 274 (96.5%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:31<02:07, 7.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=285--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:37:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 285 + INFO | >> # successes: 275 (96.5%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:40<02:05, 8.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=286--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:38:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 286 + INFO | >> # successes: 276 (96.5%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:48<01:56, 8.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=287--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:38:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 287 + INFO | >> # successes: 277 (96.5%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:57<01:49, 8.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=288--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:38:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 288 + INFO | >> # successes: 278 (96.5%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [05:06<01:44, 8.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=289--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:38:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 289 + INFO | >> # successes: 279 (96.5%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [05:14<01:31, 8.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=290--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:38:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 290 + INFO | >> # successes: 280 (96.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [05:22<01:22, 8.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=291--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:38:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 291 + INFO | >> # successes: 281 (96.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [05:29<01:12, 8.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=292--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:38:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 292 + INFO | >> # successes: 282 (96.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:37<01:04, 8.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=293--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:39:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 293 + INFO | >> # successes: 283 (96.6%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:45<00:54, 7.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=294--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:39:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 294 + INFO | >> # successes: 284 (96.6%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:51<00:45, 7.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=295--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:39:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 295 + INFO | >> # successes: 285 (96.6%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:59<00:37, 7.54s/it]09/15 [22:39:18] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=296--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:39:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 296 + INFO | >> # successes: 286 (96.6%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [06:08<00:31, 7.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=297--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:39:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 297 + INFO | >> # successes: 287 (96.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [06:15<00:22, 7.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=298--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:39:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 298 + INFO | >> # successes: 288 (96.6%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [06:23<00:15, 7.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=299--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:39:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 299 + INFO | >> # successes: 289 (96.7%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [06:32<00:08, 8.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=300--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/15 [22:39:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 300 + INFO | >> # successes: 290 (96.7%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:40<00:00, 8.16s/it] 100%|██████████| 50/50 [06:40<00:00, 8.01s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9666666666666667 + 60%|██████ | 6/10 [57:54<35:11, 527.81s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=301--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:40:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 301 + INFO | >> # successes: 291 (96.7%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:09<07:57, 9.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=302--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:40:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 302 + INFO | >> # successes: 292 (96.7%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:19<07:39, 9.57s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=303--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:40:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 303 + INFO | >> # successes: 293 (96.7%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:29<07:40, 9.79s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=304--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:40:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 304 + INFO | >> # successes: 294 (96.7%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:38<07:28, 9.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=305--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:40:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 305 + INFO | >> # successes: 295 (96.7%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:48<07:09, 9.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=306--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:40:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 306 + INFO | >> # successes: 296 (96.7%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:58<07:05, 9.67s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=307--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:41:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 307 + INFO | >> # successes: 297 (96.7%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:08<07:06, 9.92s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=308--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:41:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 308 + INFO | >> # successes: 298 (96.8%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:19<07:14, 10.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=309--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:41:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 309 + INFO | >> # successes: 299 (96.8%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:29<06:58, 10.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=310--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:41:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 310 + INFO | >> # successes: 300 (96.8%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:40<07:01, 10.53s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=311--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:41:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 311 + INFO | >> # successes: 301 (96.8%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:51<06:49, 10.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=312--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:42:12] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 312 + INFO | >> # successes: 301 (96.5%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:12<08:41, 13.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=313--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:42:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 313 + INFO | >> # successes: 302 (96.5%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:21<07:41, 12.46s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=314--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:42:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 314 + INFO | >> # successes: 303 (96.5%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:31<06:56, 11.56s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=315--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:42:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 315 + INFO | >> # successes: 304 (96.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:41<06:29, 11.13s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=316--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:42:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 316 + INFO | >> # successes: 305 (96.5%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:51<06:06, 10.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=317--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:43:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 317 + INFO | >> # successes: 306 (96.5%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:01<05:47, 10.54s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=318--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:43:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 318 + INFO | >> # successes: 307 (96.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:16<06:20, 11.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=319--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:43:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 319 + INFO | >> # successes: 308 (96.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:26<05:46, 11.18s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=320--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:43:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 320 + INFO | >> # successes: 309 (96.6%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:35<05:22, 10.76s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=321--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:43:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 321 + INFO | >> # successes: 310 (96.6%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [03:46<05:13, 10.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=322--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:44:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 322 + INFO | >> # successes: 311 (96.6%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [04:06<06:17, 13.47s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=323--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:44:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 323 + INFO | >> # successes: 312 (96.6%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:15<05:27, 12.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=324--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:44:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 324 + INFO | >> # successes: 313 (96.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:30<05:35, 12.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=325--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:44:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 325 + INFO | >> # successes: 314 (96.6%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:41<05:08, 12.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=326--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:44:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 326 + INFO | >> # successes: 315 (96.6%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [04:52<04:45, 11.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=327--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:45:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 327 + INFO | >> # successes: 316 (96.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [05:04<04:36, 12.02s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=328--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:45:25] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 328 + INFO | >> # successes: 316 (96.3%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:25<05:23, 14.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=329--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:45:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 329 + INFO | >> # successes: 317 (96.4%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:36<04:46, 13.63s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=330--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:45:57] INFO | >> Success: False run_libero_eval.py:226 +09/15 [22:45:58] INFO | >> # episodes completed so run_libero_eval.py:226 + far: 330 + INFO | >> # successes: 317 (96.1%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:57<05:17, 15.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=331--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:46:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 331 + INFO | >> # successes: 318 (96.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [06:07<04:28, 14.13s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=332--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:46:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 332 + INFO | >> # successes: 319 (96.1%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [06:17<03:52, 12.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=333--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:46:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 333 + INFO | >> # successes: 320 (96.1%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [06:27<03:22, 11.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=334--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:46:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 334 + INFO | >> # successes: 321 (96.1%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:36<02:59, 11.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=335--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:46:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 335 + INFO | >> # successes: 322 (96.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [06:45<02:38, 10.58s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=336--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:46:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 336 + INFO | >> # successes: 323 (96.1%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [06:56<02:28, 10.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=337--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:47:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 337 + INFO | >> # successes: 324 (96.1%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [07:10<02:29, 11.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=338--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:47:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 338 + INFO | >> # successes: 325 (96.2%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [07:21<02:17, 11.48s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=339--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:47:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 339 + INFO | >> # successes: 326 (96.2%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [07:36<02:17, 12.50s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=340--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:47:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 340 + INFO | >> # successes: 327 (96.2%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [07:45<01:55, 11.56s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=341--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:47:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 341 + INFO | >> # successes: 328 (96.2%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [07:56<01:42, 11.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=342--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:48:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 342 + INFO | >> # successes: 329 (96.2%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [08:10<01:35, 11.93s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=343--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:48:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 343 + INFO | >> # successes: 330 (96.2%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [08:20<01:19, 11.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=344--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:48:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 344 + INFO | >> # successes: 331 (96.2%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [08:29<01:05, 10.84s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=345--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:48:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 345 + INFO | >> # successes: 332 (96.2%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [08:39<00:52, 10.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=346--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:48:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 346 + INFO | >> # successes: 333 (96.2%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [08:51<00:43, 10.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=347--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:49:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 347 + INFO | >> # successes: 334 (96.3%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [09:00<00:31, 10.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=348--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:49:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 348 + INFO | >> # successes: 335 (96.3%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [09:11<00:20, 10.47s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=349--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:49:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 349 + INFO | >> # successes: 336 (96.3%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [09:20<00:10, 10.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=350--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/15 [22:49:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 350 + INFO | >> # successes: 337 (96.3%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [09:30<00:00, 10.10s/it] 100%|██████████| 50/50 [09:30<00:00, 11.41s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.94 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9628571428571429 + 70%|███████ | 7/10 [1:07:26<27:06, 542.26s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=351--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:49:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 351 + INFO | >> # successes: 338 (96.3%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:10<08:47, 10.77s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=352--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:49:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 352 + INFO | >> # successes: 339 (96.3%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:21<08:35, 10.73s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=353--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:50:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 353 + INFO | >> # successes: 340 (96.3%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:32<08:37, 11.01s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=354--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:50:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 354 + INFO | >> # successes: 341 (96.3%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:43<08:23, 10.95s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=355--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:50:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 355 + INFO | >> # successes: 342 (96.3%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:55<08:19, 11.09s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=356--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:50:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 356 + INFO | >> # successes: 343 (96.3%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:06<08:11, 11.18s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=357--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:50:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 357 + INFO | >> # successes: 344 (96.4%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:17<07:58, 11.12s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=358--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:51:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 358 + INFO | >> # successes: 345 (96.4%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:28<07:44, 11.06s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=359--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:51:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 359 + INFO | >> # successes: 346 (96.4%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:41<08:00, 11.71s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=360--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:51:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 360 + INFO | >> # successes: 347 (96.4%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:52<07:36, 11.41s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=361--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:51:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 361 + INFO | >> # successes: 348 (96.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:06<08:00, 12.31s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=362--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:51:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 362 + INFO | >> # successes: 349 (96.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:17<07:28, 11.80s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=363--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:52:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 363 + INFO | >> # successes: 350 (96.4%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:28<07:13, 11.70s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=364--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:52:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 364 + INFO | >> # successes: 351 (96.4%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:40<07:06, 11.86s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=365--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:52:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 365 + INFO | >> # successes: 352 (96.4%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:57<07:41, 13.18s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=366--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:52:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 366 + INFO | >> # successes: 353 (96.4%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [03:08<07:12, 12.72s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=367--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:52:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 367 + INFO | >> # successes: 354 (96.5%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:22<07:05, 12.90s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=368--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:53:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 368 + INFO | >> # successes: 355 (96.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:34<06:45, 12.66s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=369--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:53:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 369 + INFO | >> # successes: 356 (96.5%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:48<06:43, 13.02s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=370--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:53:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 370 + INFO | >> # successes: 357 (96.5%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:59<06:14, 12.49s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=371--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:53:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 371 + INFO | >> # successes: 358 (96.5%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [04:10<05:49, 12.04s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=372--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:53:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 372 + INFO | >> # successes: 359 (96.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [04:20<05:22, 11.54s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=373--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:54:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 373 + INFO | >> # successes: 360 (96.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:31<05:08, 11.41s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=374--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:54:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 374 + INFO | >> # successes: 361 (96.5%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:47<05:31, 12.76s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=375--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:54:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 375 + INFO | >> # successes: 362 (96.5%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:59<05:08, 12.34s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=376--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:54:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 376 + INFO | >> # successes: 363 (96.5%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [05:10<04:46, 11.94s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=377--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:54:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 377 + INFO | >> # successes: 364 (96.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [05:22<04:36, 12.02s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=378--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:55:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 378 + INFO | >> # successes: 365 (96.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:34<04:29, 12.24s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=379--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:55:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 379 + INFO | >> # successes: 366 (96.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:45<04:09, 11.87s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=380--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:55:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 380 + INFO | >> # successes: 367 (96.6%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:57<03:53, 11.69s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=381--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:55:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 381 + INFO | >> # successes: 368 (96.6%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [06:08<03:37, 11.45s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=382--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:55:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 382 + INFO | >> # successes: 369 (96.6%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [06:18<03:21, 11.20s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=383--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:56:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 383 + INFO | >> # successes: 370 (96.6%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [06:31<03:18, 11.70s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=384--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:56:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 384 + INFO | >> # successes: 371 (96.6%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:42<03:04, 11.56s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=385--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:56:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 385 + INFO | >> # successes: 372 (96.6%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [06:54<02:52, 11.52s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=386--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:56:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 386 + INFO | >> # successes: 373 (96.6%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [07:05<02:40, 11.47s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=387--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:56:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 387 + INFO | >> # successes: 374 (96.6%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [07:17<02:30, 11.61s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=388--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:57:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 388 + INFO | >> # successes: 375 (96.6%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [07:28<02:16, 11.37s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=389--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:57:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 389 + INFO | >> # successes: 376 (96.7%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [07:41<02:09, 11.74s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=390--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:57:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 390 + INFO | >> # successes: 377 (96.7%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [07:53<01:59, 11.93s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=391--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:57:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 391 + INFO | >> # successes: 378 (96.7%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [08:04<01:44, 11.62s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=392--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:57:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 392 + INFO | >> # successes: 379 (96.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [08:16<01:33, 11.74s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=393--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:58:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 393 + INFO | >> # successes: 380 (96.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [08:27<01:21, 11.63s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=394--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:58:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 394 + INFO | >> # successes: 381 (96.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [08:38<01:09, 11.53s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=395--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:58:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 395 + INFO | >> # successes: 382 (96.7%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [08:51<00:59, 11.86s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=396--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:58:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 396 + INFO | >> # successes: 383 (96.7%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [09:02<00:46, 11.55s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=397--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:58:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 397 + INFO | >> # successes: 384 (96.7%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [09:15<00:35, 11.99s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=398--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:58:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 398 + INFO | >> # successes: 385 (96.7%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [09:26<00:23, 11.78s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=399--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:59:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 399 + INFO | >> # successes: 386 (96.7%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [09:39<00:12, 12.22s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=400--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/15 [22:59:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 400 + INFO | >> # successes: 387 (96.8%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [09:51<00:00, 11.98s/it] 100%|██████████| 50/50 [09:51<00:00, 11.83s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9675 + 80%|████████ | 8/10 [1:17:19<18:36, 558.36s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=401--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [22:59:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 401 + INFO | >> # successes: 388 (96.8%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:17<13:54, 17.04s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=402--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:00:04] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 402 + INFO | >> # successes: 388 (96.5%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:38<15:55, 19.90s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=403--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:00:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 403 + INFO | >> # successes: 389 (96.5%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [01:02<16:44, 21.38s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=404--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:00:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 404 + INFO | >> # successes: 390 (96.5%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [01:15<13:58, 18.22s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=405--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:00:54] INFO | >> Success: True run_libero_eval.py:226 +09/15 [23:00:55] INFO | >> # episodes completed so run_libero_eval.py:226 + far: 405 + INFO | >> # successes: 391 (96.5%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:29<12:32, 16.72s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=406--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:01:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 406 + INFO | >> # successes: 392 (96.6%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:43<11:40, 15.91s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=407--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:01:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 407 + INFO | >> # successes: 393 (96.6%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:57<10:56, 15.26s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=408--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:01:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 408 + INFO | >> # successes: 394 (96.6%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [02:11<10:18, 14.74s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=409--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:01:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 409 + INFO | >> # successes: 395 (96.6%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [02:30<10:59, 16.10s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=410--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:02:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 410 + INFO | >> # successes: 396 (96.6%) run_libero_eval.py:226 + + 20%|██ | 10/50 [02:46<10:47, 16.20s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=411--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:02:35] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 411 + INFO | >> # successes: 396 (96.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [03:09<11:48, 18.18s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=412--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:02:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 412 + INFO | >> # successes: 397 (96.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [03:26<11:19, 17.87s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=413--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:03:15] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 413 + INFO | >> # successes: 397 (96.1%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [03:50<12:01, 19.50s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=414--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:03:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 414 + INFO | >> # successes: 398 (96.1%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [04:06<11:06, 18.50s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=415--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:03:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 415 + INFO | >> # successes: 399 (96.1%) run_libero_eval.py:226 + + 30%|███ | 15/50 [04:23<10:36, 18.19s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=416--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:04:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 416 + INFO | >> # successes: 400 (96.2%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [04:39<09:49, 17.35s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=417--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:04:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 417 + INFO | >> # successes: 401 (96.2%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [04:55<09:26, 17.17s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=418--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:04:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 418 + INFO | >> # successes: 402 (96.2%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [05:14<09:20, 17.52s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=419--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:04:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 419 + INFO | >> # successes: 403 (96.2%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [05:31<09:00, 17.42s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=420--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:05:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 420 + INFO | >> # successes: 404 (96.2%) run_libero_eval.py:226 + + 40%|████ | 20/50 [05:49<08:52, 17.75s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=421--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:05:37] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 421 + INFO | >> # successes: 404 (96.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [06:12<09:14, 19.12s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=422--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:05:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 422 + INFO | >> # successes: 405 (96.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [06:30<08:45, 18.78s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=423--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:06:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 423 + INFO | >> # successes: 406 (96.0%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [06:48<08:21, 18.57s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=424--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:06:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 424 + INFO | >> # successes: 407 (96.0%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [07:08<08:13, 18.98s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=425--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:06:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 425 + INFO | >> # successes: 408 (96.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [07:25<07:41, 18.45s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=426--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:07:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 426 + INFO | >> # successes: 409 (96.0%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [07:43<07:19, 18.30s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=427--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:07:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 427 + INFO | >> # successes: 410 (96.0%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [08:00<06:55, 18.08s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=428--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:07:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 428 + INFO | >> # successes: 411 (96.0%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [08:16<06:24, 17.46s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=429--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:08:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 429 + INFO | >> # successes: 412 (96.0%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [08:35<06:11, 17.67s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=430--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:08:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 430 + INFO | >> # successes: 413 (96.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [08:53<05:58, 17.90s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=431--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:08:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 431 + INFO | >> # successes: 414 (96.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [09:11<05:40, 17.93s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=432--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:08:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 432 + INFO | >> # successes: 415 (96.1%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [09:28<05:18, 17.70s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=433--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:09:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 433 + INFO | >> # successes: 416 (96.1%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [09:46<05:03, 17.88s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=434--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:09:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 434 + INFO | >> # successes: 417 (96.1%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [10:03<04:37, 17.36s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=435--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:09:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 435 + INFO | >> # successes: 418 (96.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [10:20<04:20, 17.35s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=436--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:10:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 436 + INFO | >> # successes: 419 (96.1%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [10:38<04:05, 17.51s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=437--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:10:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 437 + INFO | >> # successes: 420 (96.1%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [10:54<03:41, 17.02s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=438--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:10:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 438 + INFO | >> # successes: 421 (96.1%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [11:10<03:23, 16.92s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=439--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:10:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 439 + INFO | >> # successes: 422 (96.1%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [11:26<03:03, 16.66s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=440--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:11:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 440 + INFO | >> # successes: 423 (96.1%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [11:44<02:48, 16.81s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=441--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:11:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 441 + INFO | >> # successes: 424 (96.1%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [12:01<02:31, 16.83s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=442--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:11:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 442 + INFO | >> # successes: 425 (96.2%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [12:19<02:18, 17.26s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=443--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:12:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 443 + INFO | >> # successes: 426 (96.2%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [12:36<02:00, 17.25s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=444--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:12:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 444 + INFO | >> # successes: 427 (96.2%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [12:52<01:41, 16.94s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=445--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:12:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 445 + INFO | >> # successes: 428 (96.2%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [13:10<01:26, 17.30s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=446--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:12:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 446 + INFO | >> # successes: 429 (96.2%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [13:26<01:07, 16.76s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=447--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:13:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 447 + INFO | >> # successes: 430 (96.2%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [13:42<00:49, 16.63s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=448--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:13:29] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 448 + INFO | >> # successes: 430 (96.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [14:04<00:36, 18.19s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=449--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:13:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 449 + INFO | >> # successes: 431 (96.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [14:23<00:18, 18.38s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=450--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/15 [23:14:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 450 + INFO | >> # successes: 432 (96.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [14:40<00:00, 17.88s/it] 100%|██████████| 50/50 [14:40<00:00, 17.60s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.9 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.96 + 90%|█████████ | 9/10 [1:32:01<10:59, 659.46s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=451--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:14:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 451 + INFO | >> # successes: 433 (96.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:11<09:04, 11.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=452--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:14:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 452 + INFO | >> # successes: 434 (96.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:22<08:51, 11.06s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=453--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:14:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 453 + INFO | >> # successes: 435 (96.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:33<08:45, 11.18s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=454--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:14:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 454 + INFO | >> # successes: 436 (96.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:45<08:42, 11.36s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=455--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:15:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 455 + INFO | >> # successes: 437 (96.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:01<09:46, 13.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=456--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:15:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 456 + INFO | >> # successes: 438 (96.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:12<09:05, 12.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=457--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:15:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 457 + INFO | >> # successes: 439 (96.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:22<08:27, 11.79s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=458--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:15:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 458 + INFO | >> # successes: 440 (96.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:33<08:06, 11.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=459--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:15:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 459 + INFO | >> # successes: 441 (96.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:45<07:52, 11.52s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=460--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:16:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 460 + INFO | >> # successes: 442 (96.1%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:56<07:34, 11.37s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=461--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:16:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 461 + INFO | >> # successes: 443 (96.1%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:07<07:18, 11.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=462--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:16:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 462 + INFO | >> # successes: 444 (96.1%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:18<07:04, 11.17s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=463--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:16:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 463 + INFO | >> # successes: 445 (96.1%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:33<07:36, 12.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=464--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:16:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 464 + INFO | >> # successes: 446 (96.1%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:44<07:11, 11.98s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=465--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:17:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 465 + INFO | >> # successes: 447 (96.1%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:55<06:47, 11.63s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=466--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:17:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 466 + INFO | >> # successes: 448 (96.1%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [03:06<06:29, 11.45s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=467--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:17:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 467 + INFO | >> # successes: 449 (96.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:17<06:11, 11.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=468--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:17:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 468 + INFO | >> # successes: 450 (96.2%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:28<06:00, 11.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=469--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:17:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 469 + INFO | >> # successes: 451 (96.2%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:39<05:51, 11.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=470--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:17:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 470 + INFO | >> # successes: 452 (96.2%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:51<05:41, 11.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=471--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:18:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 471 + INFO | >> # successes: 453 (96.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [04:03<05:32, 11.47s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=472--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:18:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 472 + INFO | >> # successes: 454 (96.2%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [04:13<05:13, 11.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=473--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:18:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 473 + INFO | >> # successes: 455 (96.2%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:25<05:07, 11.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=474--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:18:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 474 + INFO | >> # successes: 456 (96.2%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:37<04:59, 11.52s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=475--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:18:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 475 + INFO | >> # successes: 457 (96.2%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:47<04:40, 11.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=476--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:19:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 476 + INFO | >> # successes: 458 (96.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [04:59<04:29, 11.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=477--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:19:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 477 + INFO | >> # successes: 459 (96.2%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [05:12<04:32, 11.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=478--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:19:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 478 + INFO | >> # successes: 460 (96.2%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:23<04:18, 11.75s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=479--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:19:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 479 + INFO | >> # successes: 461 (96.2%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:34<04:00, 11.47s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=480--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:19:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 480 + INFO | >> # successes: 462 (96.2%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:45<03:46, 11.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=481--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:20:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 481 + INFO | >> # successes: 463 (96.3%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:57<03:37, 11.46s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=482--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:20:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 482 + INFO | >> # successes: 464 (96.3%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [06:08<03:22, 11.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=483--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:20:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 483 + INFO | >> # successes: 465 (96.3%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [06:19<03:12, 11.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=484--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:20:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 484 + INFO | >> # successes: 466 (96.3%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:30<02:57, 11.11s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=485--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:20:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 485 + INFO | >> # successes: 467 (96.3%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [06:41<02:47, 11.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=486--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:20:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 486 + INFO | >> # successes: 468 (96.3%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [06:52<02:35, 11.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=487--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:21:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 487 + INFO | >> # successes: 469 (96.3%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [07:04<02:26, 11.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=488--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:21:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 488 + INFO | >> # successes: 470 (96.3%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [07:16<02:17, 11.44s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=489--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:21:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 489 + INFO | >> # successes: 471 (96.3%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [07:27<02:05, 11.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=490--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:21:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 490 + INFO | >> # successes: 472 (96.3%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [07:37<01:50, 11.07s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=491--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:21:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 491 + INFO | >> # successes: 473 (96.3%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [07:48<01:39, 11.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=492--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:22:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 492 + INFO | >> # successes: 474 (96.3%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [08:00<01:30, 11.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=493--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:22:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 493 + INFO | >> # successes: 475 (96.3%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [08:12<01:19, 11.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=494--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:22:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 494 + INFO | >> # successes: 476 (96.4%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [08:22<01:07, 11.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=495--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:22:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 495 + INFO | >> # successes: 477 (96.4%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [08:35<00:58, 11.62s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=496--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:22:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 496 + INFO | >> # successes: 478 (96.4%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [08:47<00:46, 11.62s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=497--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:23:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 497 + INFO | >> # successes: 479 (96.4%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [08:57<00:34, 11.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=498--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:23:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 498 + INFO | >> # successes: 480 (96.4%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [09:08<00:22, 11.16s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=499--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:23:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 499 + INFO | >> # successes: 481 (96.4%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [09:19<00:11, 11.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_15/2025_09_15-21_41_53--episode=500--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/15 [23:23:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 500 + INFO | >> # successes: 482 (96.4%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [09:32<00:00, 11.61s/it] 100%|██████████| 50/50 [09:32<00:00, 11.45s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.964 + 100%|██████████| 10/10 [1:41:35<00:00, 633.12s/it] 100%|██████████| 10/10 [1:41:35<00:00, 609.53s/it] + INFO | >> Final results: run_libero_eval.py:226 + INFO | >> Total episodes: 500 run_libero_eval.py:226 + INFO | >> Total successes: 482 run_libero_eval.py:226 + INFO | >> Overall success rate: run_libero_eval.py:226 + 0.9640 (96.4%) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__ + self.gl_ctx.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__ + self.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) diff --git a/VLA-Adapter-UAV/eval_logs/Inference--Object_Pro--99.6.log b/VLA-Adapter-UAV/eval_logs/Inference--Object_Pro--99.6.log new file mode 100644 index 0000000000000000000000000000000000000000..ffa4c832d8d5bf8027f712831138d7c369d2fdff --- /dev/null +++ b/VLA-Adapter-UAV/eval_logs/Inference--Object_Pro--99.6.log @@ -0,0 +1,7271 @@ +2025-09-20 16:55:04.111086: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`. +2025-09-20 16:55:04.140626: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2025-09-20 16:55:04.140675: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2025-09-20 16:55:04.141446: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2025-09-20 16:55:04.145956: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 AVX_VNNI AMX_TILE AMX_INT8 AMX_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2025-09-20 16:55:04.713693: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +[robosuite WARNING] No private macro file found! (macros.py:53) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:54) +[robosuite WARNING] To setup, run: python /ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:55) +2025-09-20 16:55:07.405590: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2348] TensorFlow was not built with CUDA kernel binaries compatible with compute capability 9.0. CUDA kernels will be jit-compiled from PTX, which could take 30 minutes or longer. +Using LIBERO constants: + NUM_ACTIONS_CHUNK = 8 + ACTION_DIM = 7 + PROPRIO_DIM = 8 + ACTION_PROPRIO_NORMALIZATION_TYPE = bounds_q99 +If needed, manually set the correct constants in `prismatic/vla/constants.py`! +Instantiating pretrained VLA policy... + + +Loaded model: +09/20 [16:55:29] INFO | >> Logging to local log file: run_libero_eval.py:211 + ./experiments/logs/EVAL-libero_ + object-openvla-2025_09_20-16_55 + _19.txt +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] + INFO | >> Task suite: libero_object run_libero_eval.py:226 + 0%| | 0/10 [00:00> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=1--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:55:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 1 + INFO | >> # successes: 1 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:08<06:49, 8.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=2--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:55:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 2 + INFO | >> # successes: 2 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:15<06:08, 7.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=3--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:55:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 3 + INFO | >> # successes: 3 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:22<05:36, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=4--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:56:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 4 + INFO | >> # successes: 4 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:29<05:28, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=5--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:56:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 5 + INFO | >> # successes: 5 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:36<05:19, 7.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=6--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:56:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 6 + INFO | >> # successes: 6 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:43<05:12, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=7--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:56:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 7 + INFO | >> # successes: 7 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:50<05:11, 7.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=8--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:56:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 8 + INFO | >> # successes: 8 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:57<05:00, 7.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=9--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:56:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 9 + INFO | >> # successes: 9 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:04<04:47, 7.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=10--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:56:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 10 + INFO | >> # successes: 10 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:12<04:49, 7.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=11--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:56:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 11 + INFO | >> # successes: 11 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:19<04:37, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=12--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:56:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 12 + INFO | >> # successes: 12 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:26<04:27, 7.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=13--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:57:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 13 + INFO | >> # successes: 13 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:33<04:21, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=14--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:57:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 14 + INFO | >> # successes: 14 (100.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:42<04:37, 7.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=15--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:57:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 15 + INFO | >> # successes: 15 (100.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:49<04:20, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=16--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:57:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 16 + INFO | >> # successes: 16 (100.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:55<04:04, 7.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=17--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:57:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 17 + INFO | >> # successes: 17 (100.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:03<04:02, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=18--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:57:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 18 + INFO | >> # successes: 18 (100.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:10<03:53, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=19--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:57:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 19 + INFO | >> # successes: 19 (100.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:17<03:45, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=20--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:57:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 20 + INFO | >> # successes: 20 (100.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:25<03:39, 7.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=21--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:58:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 21 + INFO | >> # successes: 21 (100.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:35<03:53, 8.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=22--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:58:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 22 + INFO | >> # successes: 22 (100.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:42<03:41, 7.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=23--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:58:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 23 + INFO | >> # successes: 23 (100.0%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:49<03:27, 7.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=24--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:58:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 24 + INFO | >> # successes: 24 (100.0%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:57<03:16, 7.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=25--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:58:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 25 + INFO | >> # successes: 25 (100.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:04<03:07, 7.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=26--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:58:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 26 + INFO | >> # successes: 26 (100.0%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:12<03:01, 7.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=27--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:58:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 27 + INFO | >> # successes: 27 (100.0%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:19<02:49, 7.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=28--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:58:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 28 + INFO | >> # successes: 28 (100.0%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:25<02:34, 7.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=29--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:59:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 29 + INFO | >> # successes: 29 (100.0%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:31<02:22, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=30--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:59:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 30 + INFO | >> # successes: 30 (100.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:37<02:11, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=31--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:59:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 31 + INFO | >> # successes: 31 (100.0%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:43<02:03, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=32--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:59:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 32 + INFO | >> # successes: 32 (100.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:50<01:55, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=33--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:59:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 33 + INFO | >> # successes: 33 (100.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:55<01:44, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=34--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:59:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 34 + INFO | >> # successes: 34 (100.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:01<01:37, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=35--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:59:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 35 + INFO | >> # successes: 35 (100.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:07<01:31, 6.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=36--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:59:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 36 + INFO | >> # successes: 36 (100.0%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:13<01:25, 6.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=37--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:59:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 37 + INFO | >> # successes: 37 (100.0%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:20<01:20, 6.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=38--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [16:59:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 38 + INFO | >> # successes: 38 (100.0%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:26<01:13, 6.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=39--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:00:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 39 + INFO | >> # successes: 39 (100.0%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:32<01:08, 6.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=40--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:00:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 40 + INFO | >> # successes: 40 (100.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:39<01:02, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=41--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:00:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 41 + INFO | >> # successes: 41 (100.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:46<00:59, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=42--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:00:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 42 + INFO | >> # successes: 42 (100.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:53<00:54, 6.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=43--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:00:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 43 + INFO | >> # successes: 43 (100.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:00<00:48, 6.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=44--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:00:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 44 + INFO | >> # successes: 44 (100.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:07<00:41, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=45--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:00:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 45 + INFO | >> # successes: 45 (100.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:15<00:35, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=46--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:00:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 46 + INFO | >> # successes: 46 (100.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:22<00:28, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=47--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:01:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 47 + INFO | >> # successes: 47 (100.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:29<00:21, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=48--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:01:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 48 + INFO | >> # successes: 48 (100.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:36<00:14, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=49--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:01:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 49 + INFO | >> # successes: 49 (100.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:44<00:07, 7.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=50--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +09/20 [17:01:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 50 + INFO | >> # successes: 50 (100.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:50<00:00, 6.97s/it] 100%|██████████| 50/50 [05:50<00:00, 7.01s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 1.0 + 10%|█ | 1/10 [05:53<53:01, 353.52s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=51--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:01:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 51 + INFO | >> # successes: 51 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:24, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=52--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:01:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 52 + INFO | >> # successes: 52 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:13<05:14, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=53--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:01:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 53 + INFO | >> # successes: 53 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:19<05:05, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=54--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:01:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 54 + INFO | >> # successes: 54 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:26<04:57, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=55--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:01:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 55 + INFO | >> # successes: 55 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:32<04:51, 6.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=56--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:02:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 56 + INFO | >> # successes: 56 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:39<04:45, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=57--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:02:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 57 + INFO | >> # successes: 57 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:45<04:41, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=58--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:02:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 58 + INFO | >> # successes: 58 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:52<04:33, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=59--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:02:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 59 + INFO | >> # successes: 59 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:00<04:47, 7.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=60--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:02:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 60 + INFO | >> # successes: 60 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:06<04:30, 6.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=61--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:02:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 61 + INFO | >> # successes: 61 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:13<04:25, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=62--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:02:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 62 + INFO | >> # successes: 62 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:20<04:19, 6.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=63--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:02:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 63 + INFO | >> # successes: 63 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:28<04:27, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=64--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:03:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 64 + INFO | >> # successes: 64 (100.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:35<04:18, 7.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=65--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:03:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 65 + INFO | >> # successes: 65 (100.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:42<04:10, 7.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=66--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:03:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 66 + INFO | >> # successes: 66 (100.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:48<03:55, 6.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=67--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:03:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 67 + INFO | >> # successes: 67 (100.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:55<03:46, 6.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=68--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:03:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 68 + INFO | >> # successes: 68 (100.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:01<03:34, 6.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=69--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:03:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 69 + INFO | >> # successes: 69 (100.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:08<03:27, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=70--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:03:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 70 + INFO | >> # successes: 70 (100.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:14<03:16, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=71--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:03:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 71 + INFO | >> # successes: 71 (100.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:21<03:10, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=72--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:03:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 72 + INFO | >> # successes: 72 (100.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:27<03:01, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=73--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:03:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 73 + INFO | >> # successes: 73 (100.0%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:34<02:53, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=74--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:04:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 74 + INFO | >> # successes: 74 (100.0%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:41<02:55, 6.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=75--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:04:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 75 + INFO | >> # successes: 75 (100.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:47<02:45, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=76--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:04:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 76 + INFO | >> # successes: 76 (100.0%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:54<02:41, 6.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=77--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:04:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 77 + INFO | >> # successes: 77 (100.0%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:01<02:31, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=78--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:04:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 78 + INFO | >> # successes: 78 (100.0%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:07<02:22, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=79--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:04:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 79 + INFO | >> # successes: 79 (100.0%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:14<02:17, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=80--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:04:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 80 + INFO | >> # successes: 80 (100.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:20<02:11, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=81--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:04:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 81 + INFO | >> # successes: 81 (100.0%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:26<02:02, 6.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=82--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:04:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 82 + INFO | >> # successes: 82 (100.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:32<01:53, 6.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=83--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:05:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 83 + INFO | >> # successes: 83 (100.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:39<01:47, 6.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=84--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:05:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 84 + INFO | >> # successes: 84 (100.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:45<01:42, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=85--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:05:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 85 + INFO | >> # successes: 85 (100.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:52<01:37, 6.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=86--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:05:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 86 + INFO | >> # successes: 86 (100.0%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:59<01:31, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=87--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:05:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 87 + INFO | >> # successes: 87 (100.0%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:05<01:24, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=88--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:05:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 88 + INFO | >> # successes: 88 (100.0%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:12<01:17, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=89--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:05:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 89 + INFO | >> # successes: 89 (100.0%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:19<01:14, 6.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=90--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:05:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 90 + INFO | >> # successes: 90 (100.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:26<01:07, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=91--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:05:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 91 + INFO | >> # successes: 91 (100.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:32<00:59, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=92--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:06:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 92 + INFO | >> # successes: 92 (100.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:39<00:53, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=93--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:06:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 93 + INFO | >> # successes: 93 (100.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:45<00:45, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=94--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:06:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 94 + INFO | >> # successes: 94 (100.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:51<00:38, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=95--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:06:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 95 + INFO | >> # successes: 95 (100.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:58<00:32, 6.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=96--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:06:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 96 + INFO | >> # successes: 96 (100.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:04<00:25, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=97--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:06:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 97 + INFO | >> # successes: 97 (100.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:11<00:19, 6.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=98--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:06:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 98 + INFO | >> # successes: 98 (100.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:17<00:12, 6.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=99--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:06:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 99 + INFO | >> # successes: 99 (100.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:24<00:06, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=100--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +09/20 [17:06:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 100 + INFO | >> # successes: 100 (100.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:30<00:00, 6.48s/it] 100%|██████████| 50/50 [05:30<00:00, 6.62s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 1.0 + 20%|██ | 2/10 [11:25<45:28, 341.07s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=101--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:07:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 101 + INFO | >> # successes: 101 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:14, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=102--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:07:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 102 + INFO | >> # successes: 102 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:12<05:07, 6.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=103--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:07:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 103 + INFO | >> # successes: 103 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:18<04:50, 6.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=104--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:07:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 104 + INFO | >> # successes: 104 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:24<04:43, 6.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=105--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:07:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 105 + INFO | >> # successes: 105 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:31<04:38, 6.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=106--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:07:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 106 + INFO | >> # successes: 106 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:37<04:29, 6.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=107--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:07:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 107 + INFO | >> # successes: 107 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:43<04:27, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=108--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:07:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 108 + INFO | >> # successes: 108 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:49<04:19, 6.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=109--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:07:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 109 + INFO | >> # successes: 109 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:55<04:14, 6.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=110--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:07:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 110 + INFO | >> # successes: 110 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:02<04:08, 6.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=111--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:08:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 111 + INFO | >> # successes: 111 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:08<04:01, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=112--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:08:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 112 + INFO | >> # successes: 112 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:14<03:55, 6.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=113--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:08:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 113 + INFO | >> # successes: 113 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:20<03:44, 6.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=114--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:08:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 114 + INFO | >> # successes: 114 (100.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:26<03:45, 6.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=115--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:08:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 115 + INFO | >> # successes: 115 (100.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:32<03:36, 6.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=116--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:08:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 116 + INFO | >> # successes: 116 (100.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:39<03:37, 6.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=117--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:08:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 117 + INFO | >> # successes: 117 (100.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:45<03:25, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=118--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:08:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 118 + INFO | >> # successes: 118 (100.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:51<03:17, 6.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=119--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:08:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 119 + INFO | >> # successes: 119 (100.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:59<03:30, 6.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=120--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:09:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 120 + INFO | >> # successes: 120 (100.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:06<03:18, 6.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=121--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:09:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 121 + INFO | >> # successes: 121 (100.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:12<03:09, 6.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=122--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:09:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 122 + INFO | >> # successes: 122 (100.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:20<03:18, 7.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=123--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:09:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 123 + INFO | >> # successes: 123 (100.0%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:27<03:03, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=124--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:09:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 124 + INFO | >> # successes: 124 (100.0%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:33<02:54, 6.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=125--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:09:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 125 + INFO | >> # successes: 125 (100.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:40<02:50, 6.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=126--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:09:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 126 + INFO | >> # successes: 126 (100.0%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:47<02:41, 6.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=127--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:09:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 127 + INFO | >> # successes: 127 (100.0%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:54<02:36, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=128--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:09:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 128 + INFO | >> # successes: 128 (100.0%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:00<02:29, 6.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=129--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:10:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 129 + INFO | >> # successes: 129 (100.0%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:07<02:22, 6.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=130--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:10:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 130 + INFO | >> # successes: 130 (100.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:14<02:16, 6.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=131--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:10:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 131 + INFO | >> # successes: 131 (100.0%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:20<02:07, 6.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=132--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:10:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 132 + INFO | >> # successes: 132 (100.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:27<01:58, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=133--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:10:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 133 + INFO | >> # successes: 133 (100.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:33<01:51, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=134--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:10:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 134 + INFO | >> # successes: 134 (100.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:40<01:45, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=135--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:10:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 135 + INFO | >> # successes: 135 (100.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:46<01:35, 6.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=136--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:10:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 136 + INFO | >> # successes: 136 (100.0%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:52<01:29, 6.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=137--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:10:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 137 + INFO | >> # successes: 137 (100.0%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:59<01:23, 6.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=138--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:11:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 138 + INFO | >> # successes: 138 (100.0%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:05<01:17, 6.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=139--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:11:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 139 + INFO | >> # successes: 139 (100.0%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:12<01:12, 6.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=140--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:11:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 140 + INFO | >> # successes: 140 (100.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:19<01:06, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=141--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:11:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 141 + INFO | >> # successes: 141 (100.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:26<01:00, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=142--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:11:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 142 + INFO | >> # successes: 142 (100.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:32<00:52, 6.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=143--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:11:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 143 + INFO | >> # successes: 143 (100.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:39<00:45, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=144--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:11:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 144 + INFO | >> # successes: 144 (100.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:45<00:39, 6.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=145--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:11:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 145 + INFO | >> # successes: 145 (100.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:52<00:33, 6.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=146--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:11:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 146 + INFO | >> # successes: 146 (100.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:59<00:27, 6.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=147--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:12:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 147 +09/20 [17:12:03] INFO | >> # successes: 147 (100.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:06<00:20, 6.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=148--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:12:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 148 + INFO | >> # successes: 148 (100.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:13<00:13, 6.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=149--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:12:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 149 + INFO | >> # successes: 149 (100.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:20<00:06, 6.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=150--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +09/20 [17:12:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 150 + INFO | >> # successes: 150 (100.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:26<00:00, 6.75s/it] 100%|██████████| 50/50 [05:26<00:00, 6.53s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 1.0 + 30%|███ | 3/10 [16:54<39:06, 335.18s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=151--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:12:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 151 + INFO | >> # successes: 151 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:14, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=152--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:12:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 152 + INFO | >> # successes: 152 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:45, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=153--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:12:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 153 + INFO | >> # successes: 153 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:23<06:22, 8.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=154--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:12:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 154 + INFO | >> # successes: 154 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:30<05:54, 7.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=155--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:13:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 155 + INFO | >> # successes: 155 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:37<05:41, 7.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=156--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:13:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 156 + INFO | >> # successes: 156 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:45<05:27, 7.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=157--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:13:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 157 + INFO | >> # successes: 157 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:52<05:18, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=158--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:13:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 158 + INFO | >> # successes: 158 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:00<05:15, 7.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=159--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:13:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 159 + INFO | >> # successes: 159 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:06<04:57, 7.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=160--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:13:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 160 + INFO | >> # successes: 160 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:13<04:48, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=161--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:13:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 161 + INFO | >> # successes: 161 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:20<04:35, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=162--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:13:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 162 + INFO | >> # successes: 162 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:27<04:31, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=163--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:14:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 163 + INFO | >> # successes: 163 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:36<04:43, 7.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=164--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:14:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 164 + INFO | >> # successes: 164 (100.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:43<04:27, 7.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=165--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:14:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 165 + INFO | >> # successes: 165 (100.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:52<04:30, 7.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=166--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:14:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 166 + INFO | >> # successes: 166 (100.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:00<04:29, 7.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=167--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:14:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 167 + INFO | >> # successes: 167 (100.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:07<04:09, 7.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=168--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:14:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 168 + INFO | >> # successes: 168 (100.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:14<03:57, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=169--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:14:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 169 + INFO | >> # successes: 169 (100.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:21<03:48, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=170--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:14:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 170 + INFO | >> # successes: 170 (100.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:28<03:35, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=171--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:15:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 171 + INFO | >> # successes: 171 (100.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:34<03:22, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=172--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:15:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 172 + INFO | >> # successes: 172 (100.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:43<03:25, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=173--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:15:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 173 + INFO | >> # successes: 173 (100.0%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:51<03:29, 7.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=174--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:15:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 174 + INFO | >> # successes: 174 (100.0%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:57<03:09, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=175--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:15:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 175 + INFO | >> # successes: 175 (100.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:04<02:55, 7.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=176--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:15:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 176 + INFO | >> # successes: 176 (100.0%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:10<02:43, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=177--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:15:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 177 + INFO | >> # successes: 177 (100.0%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:16<02:33, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=178--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:15:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 178 + INFO | >> # successes: 178 (100.0%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:23<02:27, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=179--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:15:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 179 + INFO | >> # successes: 179 (100.0%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:29<02:16, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=180--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:16:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 180 + INFO | >> # successes: 180 (100.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:36<02:08, 6.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=181--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:16:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 181 + INFO | >> # successes: 181 (100.0%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:42<02:04, 6.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=182--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:16:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 182 + INFO | >> # successes: 182 (100.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:49<01:57, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=183--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:16:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 183 + INFO | >> # successes: 183 (100.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:55<01:50, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=184--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:16:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 184 + INFO | >> # successes: 184 (100.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:02<01:43, 6.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=185--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:16:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 185 + INFO | >> # successes: 185 (100.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:08<01:37, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=186--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:16:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 186 + INFO | >> # successes: 186 (100.0%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:15<01:32, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=187--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:16:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 187 + INFO | >> # successes: 187 (100.0%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:23<01:32, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=188--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:16:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 188 + INFO | >> # successes: 188 (100.0%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:30<01:23, 6.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=189--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:17:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 189 + INFO | >> # successes: 189 (100.0%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:37<01:17, 7.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=190--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:17:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 190 + INFO | >> # successes: 190 (100.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:44<01:08, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=191--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:17:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 191 + INFO | >> # successes: 191 (100.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:50<01:01, 6.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=192--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:17:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 192 + INFO | >> # successes: 192 (100.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:57<00:53, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=193--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:17:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 193 + INFO | >> # successes: 193 (100.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:04<00:47, 6.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=194--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:17:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 194 + INFO | >> # successes: 194 (100.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:10<00:39, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=195--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:17:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 195 + INFO | >> # successes: 195 (100.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:16<00:32, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=196--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:17:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 196 + INFO | >> # successes: 196 (100.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:23<00:26, 6.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=197--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:17:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 197 + INFO | >> # successes: 197 (100.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:30<00:20, 6.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=198--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:18:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 198 + INFO | >> # successes: 198 (100.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:39<00:14, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=199--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:18:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 199 + INFO | >> # successes: 199 (100.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:47<00:07, 7.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=200--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +09/20 [17:18:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 200 + INFO | >> # successes: 200 (100.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:55<00:00, 7.70s/it] 100%|██████████| 50/50 [05:55<00:00, 7.11s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 1.0 + 40%|████ | 4/10 [22:51<34:22, 343.80s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=201--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:18:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 201 + INFO | >> # successes: 201 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<05:48, 7.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=202--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:18:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 202 + INFO | >> # successes: 202 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:43, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=203--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:18:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 203 + INFO | >> # successes: 203 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:21<05:35, 7.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=204--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:18:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 204 + INFO | >> # successes: 204 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:28<05:25, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=205--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:18:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 205 + INFO | >> # successes: 205 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:35<05:13, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=206--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:19:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 206 + INFO | >> # successes: 206 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:42<05:10, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=207--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:19:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 207 + INFO | >> # successes: 207 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:49<04:57, 6.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=208--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:19:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 208 + INFO | >> # successes: 208 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:56<04:52, 6.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=209--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:19:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 209 + INFO | >> # successes: 209 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:02<04:42, 6.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=210--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:19:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 210 + INFO | >> # successes: 210 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:09<04:36, 6.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=211--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:19:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 211 + INFO | >> # successes: 211 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:17<04:33, 7.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=212--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:19:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 212 + INFO | >> # successes: 212 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:25<04:39, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=213--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:19:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 213 + INFO | >> # successes: 213 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:31<04:25, 7.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=214--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:20:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 214 + INFO | >> # successes: 214 (100.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:38<04:13, 7.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=215--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:20:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 215 + INFO | >> # successes: 215 (100.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:46<04:14, 7.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=216--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:20:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 216 + INFO | >> # successes: 216 (100.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:53<04:08, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=217--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:20:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 217 + INFO | >> # successes: 217 (100.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:00<03:58, 7.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=218--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:20:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 218 + INFO | >> # successes: 218 (100.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:07<03:48, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=219--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:20:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 219 + INFO | >> # successes: 219 (100.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:15<03:41, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=220--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:20:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 220 + INFO | >> # successes: 220 (100.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:21<03:30, 7.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=221--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:20:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 221 + INFO | >> # successes: 221 (100.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:28<03:23, 7.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=222--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:20:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 222 + INFO | >> # successes: 222 (100.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:36<03:21, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=223--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:21:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 223 + INFO | >> # successes: 223 (100.0%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:42<03:08, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=224--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:21:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 224 + INFO | >> # successes: 224 (100.0%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:49<03:01, 6.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=225--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:21:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 225 + INFO | >> # successes: 225 (100.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:57<03:01, 7.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=226--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:21:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 226 + INFO | >> # successes: 226 (100.0%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:04<02:51, 7.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=227--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:21:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 227 + INFO | >> # successes: 227 (100.0%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:11<02:43, 7.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=228--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:21:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 228 + INFO | >> # successes: 228 (100.0%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:19<02:38, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=229--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:21:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 229 + INFO | >> # successes: 229 (100.0%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:26<02:29, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=230--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:21:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 230 + INFO | >> # successes: 230 (100.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:33<02:22, 7.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=231--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:22:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 231 + INFO | >> # successes: 231 (100.0%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:40<02:14, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=232--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:22:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 232 + INFO | >> # successes: 232 (100.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:47<02:07, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=233--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:22:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 233 + INFO | >> # successes: 233 (100.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:54<01:59, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=234--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:22:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 234 + INFO | >> # successes: 234 (100.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:01<01:52, 7.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=235--success=False--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:22:35] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 235 + INFO | >> # successes: 234 (99.6%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:13<02:10, 8.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=236--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:22:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 236 + INFO | >> # successes: 235 (99.6%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:20<01:54, 8.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=237--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:22:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 237 + INFO | >> # successes: 236 (99.6%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:27<01:39, 7.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=238--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:22:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 238 + INFO | >> # successes: 237 (99.6%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:34<01:29, 7.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=239--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:23:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 239 + INFO | >> # successes: 238 (99.6%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:41<01:20, 7.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=240--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:23:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 240 + INFO | >> # successes: 239 (99.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:48<01:13, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=241--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:23:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 241 + INFO | >> # successes: 240 (99.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:55<01:06, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=242--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:23:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 242 + INFO | >> # successes: 241 (99.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:03<00:58, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=243--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:23:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 243 + INFO | >> # successes: 242 (99.6%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:12<00:54, 7.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=244--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:23:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 244 + INFO | >> # successes: 243 (99.6%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:19<00:45, 7.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=245--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:23:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 245 + INFO | >> # successes: 244 (99.6%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:26<00:37, 7.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=246--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:23:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 246 + INFO | >> # successes: 245 (99.6%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:33<00:29, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=247--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:24:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 247 + INFO | >> # successes: 246 (99.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:40<00:21, 7.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=248--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:24:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 248 + INFO | >> # successes: 247 (99.6%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:47<00:14, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=249--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:24:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 249 + INFO | >> # successes: 248 (99.6%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:54<00:07, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=250--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +09/20 [17:24:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 250 + INFO | >> # successes: 249 (99.6%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:02<00:00, 7.28s/it] 100%|██████████| 50/50 [06:02<00:00, 7.24s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.996 + 50%|█████ | 5/10 [28:54<29:14, 350.94s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=251--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:24:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 251 + INFO | >> # successes: 250 (99.6%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:14, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=252--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:24:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 252 + INFO | >> # successes: 251 (99.6%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:13<05:17, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=253--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:24:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 253 + INFO | >> # successes: 252 (99.6%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:19<05:12, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=254--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:24:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 254 + INFO | >> # successes: 253 (99.6%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:26<05:11, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=255--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:24:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 255 + INFO | >> # successes: 254 (99.6%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:33<05:07, 6.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=256--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:25:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 256 + INFO | >> # successes: 255 (99.6%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:40<04:55, 6.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=257--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:25:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 257 + INFO | >> # successes: 256 (99.6%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:46<04:45, 6.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=258--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:25:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 258 + INFO | >> # successes: 257 (99.6%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:53<04:43, 6.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=259--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:25:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 259 + INFO | >> # successes: 258 (99.6%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:00<04:34, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=260--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:25:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 260 + INFO | >> # successes: 259 (99.6%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:07<04:29, 6.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=261--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:25:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 261 + INFO | >> # successes: 260 (99.6%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:13<04:23, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=262--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:25:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 262 + INFO | >> # successes: 261 (99.6%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:20<04:11, 6.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=263--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:25:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 263 + INFO | >> # successes: 262 (99.6%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:27<04:07, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=264--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:25:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 264 + INFO | >> # successes: 263 (99.6%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:33<04:02, 6.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=265--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:26:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 265 + INFO | >> # successes: 264 (99.6%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:40<03:56, 6.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=266--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:26:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 266 + INFO | >> # successes: 265 (99.6%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:47<03:46, 6.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=267--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:26:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 267 + INFO | >> # successes: 266 (99.6%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:53<03:38, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=268--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:26:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 268 + INFO | >> # successes: 267 (99.6%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:00<03:32, 6.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=269--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:26:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 269 + INFO | >> # successes: 268 (99.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:06<03:21, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=270--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:26:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 270 + INFO | >> # successes: 269 (99.6%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:13<03:14, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=271--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:26:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 271 + INFO | >> # successes: 270 (99.6%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:20<03:19, 6.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=272--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:26:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 272 + INFO | >> # successes: 271 (99.6%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:26<03:05, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=273--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:26:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 273 + INFO | >> # successes: 272 (99.6%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:33<02:58, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=274--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:27:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 274 + INFO | >> # successes: 273 (99.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:40<02:53, 6.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=275--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:27:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 275 + INFO | >> # successes: 274 (99.6%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:47<02:49, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=276--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:27:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 276 + INFO | >> # successes: 275 (99.6%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:55<02:52, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=277--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:27:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 277 + INFO | >> # successes: 276 (99.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:02<02:45, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=278--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:27:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 278 + INFO | >> # successes: 277 (99.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:10<02:42, 7.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=279--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:27:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 279 + INFO | >> # successes: 278 (99.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:17<02:35, 7.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=280--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:27:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 280 + INFO | >> # successes: 279 (99.6%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:24<02:24, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=281--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:27:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 281 + INFO | >> # successes: 280 (99.6%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:31<02:14, 7.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=282--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:28:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 282 + INFO | >> # successes: 281 (99.6%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:39<02:09, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=283--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:28:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 283 + INFO | >> # successes: 282 (99.6%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:45<01:59, 7.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=284--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:28:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 284 + INFO | >> # successes: 283 (99.6%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:52<01:51, 6.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=285--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:28:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 285 + INFO | >> # successes: 284 (99.6%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:59<01:44, 6.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=286--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:28:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 286 + INFO | >> # successes: 285 (99.7%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:05<01:34, 6.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=287--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:28:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 287 + INFO | >> # successes: 286 (99.7%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:12<01:26, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=288--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:28:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 288 + INFO | >> # successes: 287 (99.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:18<01:20, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=289--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:28:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 289 + INFO | >> # successes: 288 (99.7%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:25<01:13, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=290--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:28:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 290 + INFO | >> # successes: 289 (99.7%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:32<01:06, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=291--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:29:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 291 + INFO | >> # successes: 290 (99.7%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:38<00:59, 6.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=292--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:29:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 292 + INFO | >> # successes: 291 (99.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:45<00:53, 6.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=293--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:29:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 293 + INFO | >> # successes: 292 (99.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:51<00:45, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=294--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:29:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 294 + INFO | >> # successes: 293 (99.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:58<00:39, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=295--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:29:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 295 + INFO | >> # successes: 294 (99.7%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:04<00:32, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=296--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:29:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 296 + INFO | >> # successes: 295 (99.7%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:12<00:27, 6.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=297--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:29:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 297 + INFO | >> # successes: 296 (99.7%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:18<00:20, 6.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=298--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:29:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 298 + INFO | >> # successes: 297 (99.7%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:25<00:13, 6.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=299--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:29:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 299 + INFO | >> # successes: 298 (99.7%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:33<00:07, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=300--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +09/20 [17:30:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 300 + INFO | >> # successes: 299 (99.7%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:40<00:00, 6.99s/it] 100%|██████████| 50/50 [05:40<00:00, 6.81s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9966666666666667 + 60%|██████ | 6/10 [34:36<23:11, 347.81s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=301--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:30:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 301 + INFO | >> # successes: 300 (99.7%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<06:08, 7.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=302--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:30:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 302 + INFO | >> # successes: 301 (99.7%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:15<06:03, 7.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=303--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:30:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 303 + INFO | >> # successes: 302 (99.7%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:22<05:48, 7.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=304--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:30:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 304 + INFO | >> # successes: 303 (99.7%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:30<05:47, 7.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=305--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:30:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 305 + INFO | >> # successes: 304 (99.7%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:37<05:35, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=306--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:30:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 306 + INFO | >> # successes: 305 (99.7%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:45<05:35, 7.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=307--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:31:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 307 + INFO | >> # successes: 306 (99.7%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:56<06:12, 8.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=308--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:31:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 308 + INFO | >> # successes: 307 (99.7%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:03<05:43, 8.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=309--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:31:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 309 + INFO | >> # successes: 308 (99.7%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:10<05:28, 8.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=310--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:31:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 310 + INFO | >> # successes: 309 (99.7%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:18<05:20, 8.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=311--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:31:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 311 + INFO | >> # successes: 310 (99.7%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:26<05:10, 7.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=312--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:31:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 312 + INFO | >> # successes: 311 (99.7%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:34<05:02, 7.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=313--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:31:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 313 + INFO | >> # successes: 312 (99.7%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:42<04:49, 7.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=314--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:31:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 314 + INFO | >> # successes: 313 (99.7%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:49<04:35, 7.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=315--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:32:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 315 + INFO | >> # successes: 314 (99.7%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:56<04:25, 7.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=316--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:32:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 316 + INFO | >> # successes: 315 (99.7%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:04<04:19, 7.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=317--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:32:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 317 + INFO | >> # successes: 316 (99.7%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:12<04:09, 7.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=318--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:32:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 318 + INFO | >> # successes: 317 (99.7%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:20<04:05, 7.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=319--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:32:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 319 + INFO | >> # successes: 318 (99.7%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:27<03:55, 7.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=320--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:32:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 320 + INFO | >> # successes: 319 (99.7%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:35<03:48, 7.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=321--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:32:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 321 + INFO | >> # successes: 320 (99.7%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:42<03:38, 7.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=322--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:32:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 322 + INFO | >> # successes: 321 (99.7%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:49<03:28, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=323--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:33:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 323 + INFO | >> # successes: 322 (99.7%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:57<03:22, 7.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=324--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:33:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 324 + INFO | >> # successes: 323 (99.7%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:04<03:15, 7.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=325--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:33:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 325 + INFO | >> # successes: 324 (99.7%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:12<03:11, 7.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=326--success=False--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:33:32] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 326 + INFO | >> # successes: 324 (99.4%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:25<03:35, 9.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=327--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:33:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 327 + INFO | >> # successes: 325 (99.4%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:32<03:15, 8.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=328--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:33:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 328 + INFO | >> # successes: 326 (99.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:39<02:58, 8.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=329--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:33:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 329 + INFO | >> # successes: 327 (99.4%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:47<02:47, 7.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=330--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:34:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 330 + INFO | >> # successes: 328 (99.4%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:55<02:38, 7.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=331--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:34:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 331 + INFO | >> # successes: 329 (99.4%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:03<02:34, 8.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=332--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:34:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 332 + INFO | >> # successes: 330 (99.4%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:11<02:22, 7.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=333--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:34:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 333 + INFO | >> # successes: 331 (99.4%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:20<02:20, 8.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=334--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:34:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 334 + INFO | >> # successes: 332 (99.4%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:27<02:07, 7.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=335--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:34:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 335 + INFO | >> # successes: 333 (99.4%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:34<01:56, 7.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=336--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:34:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 336 + INFO | >> # successes: 334 (99.4%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:43<01:51, 7.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=337--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:34:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 337 + INFO | >> # successes: 335 (99.4%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:50<01:41, 7.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=338--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:35:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 338 + INFO | >> # successes: 336 (99.4%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:58<01:33, 7.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=339--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:35:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 339 + INFO | >> # successes: 337 (99.4%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [05:06<01:28, 8.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=340--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:35:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 340 + INFO | >> # successes: 338 (99.4%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [05:14<01:19, 7.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=341--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:35:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 341 + INFO | >> # successes: 339 (99.4%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [05:24<01:15, 8.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=342--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:35:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 342 + INFO | >> # successes: 340 (99.4%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:31<01:04, 8.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=343--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:35:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 343 + INFO | >> # successes: 341 (99.4%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:39<00:56, 8.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=344--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:35:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 344 + INFO | >> # successes: 342 (99.4%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:47<00:48, 8.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=345--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:36:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 345 + INFO | >> # successes: 343 (99.4%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:55<00:40, 8.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=346--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:36:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 346 + INFO | >> # successes: 344 (99.4%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [06:03<00:31, 7.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=347--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:36:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 347 + INFO | >> # successes: 345 (99.4%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [06:10<00:23, 7.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=348--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:36:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 348 + INFO | >> # successes: 346 (99.4%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [06:18<00:15, 7.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=349--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:36:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 349 + INFO | >> # successes: 347 (99.4%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [06:25<00:07, 7.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=350--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +09/20 [17:36:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 350 + INFO | >> # successes: 348 (99.4%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:32<00:00, 7.52s/it] 100%|██████████| 50/50 [06:32<00:00, 7.86s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9942857142857143 + 70%|███████ | 7/10 [41:10<18:08, 362.99s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=351--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:36:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 351 + INFO | >> # successes: 349 (99.4%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:30, 6.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=352--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:36:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 352 + INFO | >> # successes: 350 (99.4%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:13<05:27, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=353--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:37:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 353 + INFO | >> # successes: 351 (99.4%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:21<05:33, 7.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=354--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:37:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 354 + INFO | >> # successes: 352 (99.4%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:27<05:17, 6.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=355--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:37:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 355 + INFO | >> # successes: 353 (99.4%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:34<05:01, 6.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=356--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:37:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 356 + INFO | >> # successes: 354 (99.4%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:40<04:57, 6.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=357--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:37:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 357 + INFO | >> # successes: 355 (99.4%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:49<05:13, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=358--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:37:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 358 + INFO | >> # successes: 356 (99.4%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:55<04:57, 7.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=359--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:37:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 359 + INFO | >> # successes: 357 (99.4%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:02<04:42, 6.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=360--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:37:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 360 + INFO | >> # successes: 358 (99.4%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:09<04:35, 6.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=361--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:37:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 361 + INFO | >> # successes: 359 (99.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:16<04:31, 6.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=362--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:38:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 362 + INFO | >> # successes: 360 (99.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:23<04:25, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=363--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:38:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 363 + INFO | >> # successes: 361 (99.4%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:30<04:15, 6.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=364--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:38:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 364 + INFO | >> # successes: 362 (99.5%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:37<04:13, 7.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=365--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:38:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 365 + INFO | >> # successes: 363 (99.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:44<04:05, 7.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=366--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:38:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 366 + INFO | >> # successes: 364 (99.5%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:50<03:52, 6.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=367--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:38:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 367 + INFO | >> # successes: 365 (99.5%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:57<03:47, 6.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=368--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:38:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 368 + INFO | >> # successes: 366 (99.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:04<03:36, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=369--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:38:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 369 + INFO | >> # successes: 367 (99.5%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:13<03:50, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=370--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:39:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 370 + INFO | >> # successes: 368 (99.5%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:20<03:37, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=371--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:39:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 371 + INFO | >> # successes: 369 (99.5%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:26<03:25, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=372--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:39:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 372 + INFO | >> # successes: 370 (99.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:34<03:18, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=373--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:39:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 373 + INFO | >> # successes: 371 (99.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:40<03:07, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=374--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:39:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 374 + INFO | >> # successes: 372 (99.5%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:47<03:01, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=375--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:39:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 375 + INFO | >> # successes: 373 (99.5%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:54<02:52, 6.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=376--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:39:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 376 + INFO | >> # successes: 374 (99.5%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:01<02:46, 6.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=377--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:39:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 377 + INFO | >> # successes: 375 (99.5%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:08<02:37, 6.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=378--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:39:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 378 + INFO | >> # successes: 376 (99.5%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:14<02:27, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=379--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:40:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 379 + INFO | >> # successes: 377 (99.5%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:20<02:18, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=380--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:40:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 380 + INFO | >> # successes: 378 (99.5%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:27<02:10, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=381--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:40:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 381 + INFO | >> # successes: 379 (99.5%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:33<02:03, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=382--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:40:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 382 + INFO | >> # successes: 380 (99.5%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:39<01:55, 6.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=383--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:40:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 383 + INFO | >> # successes: 381 (99.5%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:46<01:50, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=384--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:40:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 384 + INFO | >> # successes: 382 (99.5%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:52<01:44, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=385--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:40:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 385 + INFO | >> # successes: 383 (99.5%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:59<01:37, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=386--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:40:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 386 + INFO | >> # successes: 384 (99.5%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:06<01:32, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=387--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:40:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 387 + INFO | >> # successes: 385 (99.5%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:12<01:26, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=388--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:41:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 388 + INFO | >> # successes: 386 (99.5%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:19<01:18, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=389--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:41:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 389 + INFO | >> # successes: 387 (99.5%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:26<01:13, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=390--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:41:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 390 + INFO | >> # successes: 388 (99.5%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:33<01:07, 6.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=391--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:41:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 391 + INFO | >> # successes: 389 (99.5%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:40<01:01, 6.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=392--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:41:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 392 + INFO | >> # successes: 390 (99.5%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:47<00:55, 6.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=393--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:41:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 393 + INFO | >> # successes: 391 (99.5%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:54<00:49, 7.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=394--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:41:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 394 + INFO | >> # successes: 392 (99.5%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:01<00:42, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=395--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:41:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 395 + INFO | >> # successes: 393 (99.5%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:08<00:35, 7.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=396--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:41:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 396 + INFO | >> # successes: 394 (99.5%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:15<00:27, 6.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=397--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:42:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 397 + INFO | >> # successes: 395 (99.5%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:23<00:21, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=398--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:42:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 398 + INFO | >> # successes: 396 (99.5%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:30<00:14, 7.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=399--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:42:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 399 + INFO | >> # successes: 397 (99.5%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:37<00:07, 7.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=400--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +09/20 [17:42:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 400 + INFO | >> # successes: 398 (99.5%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:43<00:00, 6.99s/it] 100%|██████████| 50/50 [05:43<00:00, 6.88s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.995 + 80%|████████ | 8/10 [46:56<11:54, 357.40s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=401--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:42:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 401 + INFO | >> # successes: 399 (99.5%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:41, 6.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=402--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:42:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 402 + INFO | >> # successes: 400 (99.5%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:50, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=403--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:42:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 403 + INFO | >> # successes: 401 (99.5%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:22<05:52, 7.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=404--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:42:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 404 + INFO | >> # successes: 402 (99.5%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:29<05:39, 7.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=405--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:43:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 405 + INFO | >> # successes: 403 (99.5%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:37<05:36, 7.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=406--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:43:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 406 + INFO | >> # successes: 404 (99.5%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:44<05:32, 7.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=407--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:43:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 407 + INFO | >> # successes: 405 (99.5%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:52<05:26, 7.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=408--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:43:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 408 + INFO | >> # successes: 406 (99.5%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:59<05:16, 7.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=409--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:43:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 409 + INFO | >> # successes: 407 (99.5%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:07<05:08, 7.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=410--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:43:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 410 + INFO | >> # successes: 408 (99.5%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:14<05:01, 7.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=411--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:43:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 411 + INFO | >> # successes: 409 (99.5%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:22<04:54, 7.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=412--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:43:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 412 + INFO | >> # successes: 410 (99.5%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:29<04:43, 7.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=413--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:44:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 413 + INFO | >> # successes: 411 (99.5%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:37<04:40, 7.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=414--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:44:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 414 + INFO | >> # successes: 412 (99.5%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:45<04:33, 7.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=415--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:44:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 415 + INFO | >> # successes: 413 (99.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:52<04:26, 7.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=416--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:44:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 416 + INFO | >> # successes: 414 (99.5%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:00<04:21, 7.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=417--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:44:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 417 + INFO | >> # successes: 415 (99.5%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:08<04:13, 7.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=418--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:44:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 418 + INFO | >> # successes: 416 (99.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:16<04:04, 7.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=419--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:44:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 419 + INFO | >> # successes: 417 (99.5%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:23<03:56, 7.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=420--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:44:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 420 + INFO | >> # successes: 418 (99.5%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:31<03:49, 7.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=421--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:45:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 421 + INFO | >> # successes: 419 (99.5%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:38<03:40, 7.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=422--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:45:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 422 + INFO | >> # successes: 420 (99.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:47<03:45, 8.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=423--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:45:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 423 + INFO | >> # successes: 421 (99.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:56<03:44, 8.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=424--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:45:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 424 + INFO | >> # successes: 422 (99.5%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:05<03:36, 8.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=425--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:45:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 425 + INFO | >> # successes: 423 (99.5%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:12<03:21, 8.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=426--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:45:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 426 + INFO | >> # successes: 424 (99.5%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:20<03:08, 7.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=427--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:45:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 427 + INFO | >> # successes: 425 (99.5%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:27<02:56, 7.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=428--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:46:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 428 + INFO | >> # successes: 426 (99.5%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:36<02:59, 8.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=429--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:46:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 429 + INFO | >> # successes: 427 (99.5%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:43<02:46, 7.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=430--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:46:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 430 + INFO | >> # successes: 428 (99.5%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:53<02:45, 8.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=431--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:46:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 431 + INFO | >> # successes: 429 (99.5%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:00<02:30, 7.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=432--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:46:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 432 + INFO | >> # successes: 430 (99.5%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:07<02:22, 7.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=433--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:46:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 433 + INFO | >> # successes: 431 (99.5%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:15<02:10, 7.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=434--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:46:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 434 + INFO | >> # successes: 432 (99.5%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:22<02:00, 7.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=435--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:46:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 435 + INFO | >> # successes: 433 (99.5%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:29<01:51, 7.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=436--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:47:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 436 + INFO | >> # successes: 434 (99.5%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:36<01:42, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=437--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:47:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 437 + INFO | >> # successes: 435 (99.5%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:43<01:35, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=438--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:47:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 438 + INFO | >> # successes: 436 (99.5%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:51<01:28, 7.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=439--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:47:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 439 + INFO | >> # successes: 437 (99.5%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:58<01:21, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=440--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:47:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 440 + INFO | >> # successes: 438 (99.5%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [05:06<01:13, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=441--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:47:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 441 + INFO | >> # successes: 439 (99.5%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [05:13<01:06, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=442--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:47:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 442 + INFO | >> # successes: 440 (99.5%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:21<00:59, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=443--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:47:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 443 + INFO | >> # successes: 441 (99.5%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:28<00:51, 7.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=444--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:48:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 444 + INFO | >> # successes: 442 (99.5%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:36<00:45, 7.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=445--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:48:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 445 + INFO | >> # successes: 443 (99.6%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:43<00:37, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=446--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:48:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 446 + INFO | >> # successes: 444 (99.6%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:54<00:33, 8.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=447--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:48:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 447 + INFO | >> # successes: 445 (99.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [06:01<00:24, 8.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=448--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:48:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 448 + INFO | >> # successes: 446 (99.6%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [06:09<00:16, 8.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=449--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:48:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 449 + INFO | >> # successes: 447 (99.6%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [06:17<00:07, 7.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=450--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +09/20 [17:48:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 450 + INFO | >> # successes: 448 (99.6%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:24<00:00, 7.77s/it] 100%|██████████| 50/50 [06:24<00:00, 7.69s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9955555555555555 + 90%|█████████ | 9/10 [53:22<06:06, 366.38s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=451--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:49:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 451 + INFO | >> # successes: 449 (99.6%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:34, 6.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=452--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:49:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 452 + INFO | >> # successes: 450 (99.6%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:13<05:16, 6.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=453--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:49:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 453 + INFO | >> # successes: 451 (99.6%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:19<05:08, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=454--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:49:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 454 + INFO | >> # successes: 452 (99.6%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:28<05:36, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=455--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:49:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 455 + INFO | >> # successes: 453 (99.6%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:34<05:18, 7.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=456--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:49:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 456 + INFO | >> # successes: 454 (99.6%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:40<04:53, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=457--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:49:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 457 + INFO | >> # successes: 455 (99.6%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:47<04:45, 6.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=458--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:49:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 458 + INFO | >> # successes: 456 (99.6%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:53<04:34, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=459--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:49:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 459 + INFO | >> # successes: 457 (99.6%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:59<04:22, 6.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=460--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:50:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 460 + INFO | >> # successes: 458 (99.6%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:06<04:25, 6.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=461--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:50:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 461 + INFO | >> # successes: 459 (99.6%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:13<04:13, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=462--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:50:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 462 + INFO | >> # successes: 460 (99.6%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:19<04:08, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=463--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:50:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 463 + INFO | >> # successes: 461 (99.6%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:26<04:01, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=464--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:50:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 464 + INFO | >> # successes: 462 (99.6%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:32<03:52, 6.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=465--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:50:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 465 + INFO | >> # successes: 463 (99.6%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:38<03:41, 6.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=466--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:50:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 466 + INFO | >> # successes: 464 (99.6%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:44<03:31, 6.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=467--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:50:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 467 + INFO | >> # successes: 465 (99.6%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:51<03:28, 6.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=468--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:50:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 468 + INFO | >> # successes: 466 (99.6%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:57<03:21, 6.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=469--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:50:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 469 + INFO | >> # successes: 467 (99.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:04<03:18, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=470--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:51:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 470 + INFO | >> # successes: 468 (99.6%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:10<03:14, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=471--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:51:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 471 + INFO | >> # successes: 469 (99.6%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:17<03:12, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=472--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:51:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 472 + INFO | >> # successes: 470 (99.6%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:23<03:00, 6.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=473--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:51:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 473 + INFO | >> # successes: 471 (99.6%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:31<03:02, 6.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=474--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:51:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 474 + INFO | >> # successes: 472 (99.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:37<02:53, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=475--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:51:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 475 + INFO | >> # successes: 473 (99.6%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:43<02:41, 6.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=476--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:51:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 476 + INFO | >> # successes: 474 (99.6%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:50<02:37, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=477--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:51:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 477 + INFO | >> # successes: 475 (99.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:56<02:30, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=478--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:51:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 478 + INFO | >> # successes: 476 (99.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:03<02:26, 6.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=479--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:52:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 479 + INFO | >> # successes: 477 (99.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:10<02:16, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=480--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:52:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 480 + INFO | >> # successes: 478 (99.6%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:16<02:09, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=481--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:52:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 481 + INFO | >> # successes: 479 (99.6%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:23<02:04, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=482--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:52:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 482 + INFO | >> # successes: 480 (99.6%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:29<01:57, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=483--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:52:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 483 + INFO | >> # successes: 481 (99.6%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:35<01:50, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=484--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:52:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 484 + INFO | >> # successes: 482 (99.6%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:42<01:41, 6.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=485--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:52:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 485 + INFO | >> # successes: 483 (99.6%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:48<01:34, 6.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=486--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:52:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 486 + INFO | >> # successes: 484 (99.6%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:54<01:27, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=487--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:52:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 487 + INFO | >> # successes: 485 (99.6%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:00<01:22, 6.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=488--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:53:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 488 + INFO | >> # successes: 486 (99.6%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:07<01:16, 6.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=489--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:53:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 489 + INFO | >> # successes: 487 (99.6%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:13<01:09, 6.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=490--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:53:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 490 + INFO | >> # successes: 488 (99.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:19<01:01, 6.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=491--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:53:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 491 + INFO | >> # successes: 489 (99.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:25<00:56, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=492--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:53:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 492 + INFO | >> # successes: 490 (99.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:32<00:51, 6.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=493--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:53:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 493 + INFO | >> # successes: 491 (99.6%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:39<00:45, 6.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=494--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:53:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 494 + INFO | >> # successes: 492 (99.6%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:45<00:37, 6.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=495--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:53:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 495 + INFO | >> # successes: 493 (99.6%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:51<00:31, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=496--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:53:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 496 + INFO | >> # successes: 494 (99.6%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:57<00:25, 6.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=497--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:53:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 497 + INFO | >> # successes: 495 (99.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:04<00:19, 6.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=498--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:54:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 498 + INFO | >> # successes: 496 (99.6%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:10<00:12, 6.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=499--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:54:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 499 + INFO | >> # successes: 497 (99.6%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:16<00:06, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_20/2025_09_20-16_55_19--episode=500--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +09/20 [17:54:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 500 + INFO | >> # successes: 498 (99.6%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:22<00:00, 6.14s/it] 100%|██████████| 50/50 [05:22<00:00, 6.44s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.996 + 100%|██████████| 10/10 [58:45<00:00, 353.17s/it] 100%|██████████| 10/10 [58:45<00:00, 352.58s/it] + INFO | >> Final results: run_libero_eval.py:226 + INFO | >> Total episodes: 500 run_libero_eval.py:226 + INFO | >> Total successes: 498 run_libero_eval.py:226 + INFO | >> Overall success rate: run_libero_eval.py:226 + 0.9960 (99.6%) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__ + self.gl_ctx.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__ + self.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) diff --git a/VLA-Adapter-UAV/eval_logs/Inference--Spatial_Pro--99.6.log b/VLA-Adapter-UAV/eval_logs/Inference--Spatial_Pro--99.6.log new file mode 100644 index 0000000000000000000000000000000000000000..87bcc024a1539a305ccaeb3d104a9da5aed06553 --- /dev/null +++ b/VLA-Adapter-UAV/eval_logs/Inference--Spatial_Pro--99.6.log @@ -0,0 +1,7771 @@ +2025-09-21 12:56:58.771430: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`. +2025-09-21 12:56:58.802530: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2025-09-21 12:56:58.802586: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2025-09-21 12:56:58.803597: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2025-09-21 12:56:58.809446: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 AVX_VNNI AMX_TILE AMX_INT8 AMX_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2025-09-21 12:56:59.464397: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +[robosuite WARNING] No private macro file found! (macros.py:53) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:54) +[robosuite WARNING] To setup, run: python /ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:55) +2025-09-21 12:57:03.134347: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2348] TensorFlow was not built with CUDA kernel binaries compatible with compute capability 9.0. CUDA kernels will be jit-compiled from PTX, which could take 30 minutes or longer. +Using LIBERO constants: + NUM_ACTIONS_CHUNK = 8 + ACTION_DIM = 7 + PROPRIO_DIM = 8 + ACTION_PROPRIO_NORMALIZATION_TYPE = bounds_q99 +If needed, manually set the correct constants in `prismatic/vla/constants.py`! +Instantiating pretrained VLA policy... + + +Loaded model: +09/21 [12:57:27] INFO | >> Logging to local log file: run_libero_eval.py:211 + ./experiments/logs/EVAL-libero_ + spatial-openvla-2025_09_21-12_5 + 7_15.txt +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] + INFO | >> Task suite: libero_spatial run_libero_eval.py:226 + 0%| | 0/10 [00:00> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=1--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:57:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 1 + INFO | >> # successes: 1 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:03, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=2--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:57:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 2 + INFO | >> # successes: 2 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:11<04:41, 5.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=3--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:57:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 3 + INFO | >> # successes: 3 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:17<04:26, 5.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=4--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:57:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 4 + INFO | >> # successes: 4 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:22<04:15, 5.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=5--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:57:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 5 + INFO | >> # successes: 5 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:28<04:09, 5.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=6--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:58:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 6 + INFO | >> # successes: 6 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:33<04:02, 5.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=7--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:58:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 7 + INFO | >> # successes: 7 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:38<03:52, 5.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=8--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:58:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 8 + INFO | >> # successes: 8 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:44<03:50, 5.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=9--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:58:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 9 + INFO | >> # successes: 9 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:49<03:40, 5.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=10--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:58:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 10 + INFO | >> # successes: 10 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [00:54<03:33, 5.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=11--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:58:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 11 + INFO | >> # successes: 11 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:00<03:27, 5.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=12--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:58:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 12 + INFO | >> # successes: 12 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:05<03:27, 5.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=13--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:58:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 13 + INFO | >> # successes: 13 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:11<03:21, 5.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=14--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:58:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 14 + INFO | >> # successes: 14 (100.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:18<03:34, 5.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=15--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:58:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 15 + INFO | >> # successes: 15 (100.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:24<03:24, 5.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=16--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 16 + INFO | >> # successes: 16 (100.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:29<03:12, 5.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=17--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 17 + INFO | >> # successes: 17 (100.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:35<03:09, 5.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=18--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 18 + INFO | >> # successes: 18 (100.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:40<03:00, 5.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=19--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 19 + INFO | >> # successes: 19 (100.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:46<02:58, 5.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=20--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 20 + INFO | >> # successes: 20 (100.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [01:52<02:55, 5.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=21--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 21 + INFO | >> # successes: 21 (100.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [01:58<02:45, 5.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=22--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 22 + INFO | >> # successes: 22 (100.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:03<02:36, 5.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=23--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 23 + INFO | >> # successes: 23 (100.0%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:09<02:30, 5.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=24--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 24 + INFO | >> # successes: 24 (100.0%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:14<02:24, 5.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=25--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 25 + INFO | >> # successes: 25 (100.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:19<02:15, 5.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=26--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [12:59:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 26 + INFO | >> # successes: 26 (100.0%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:24<02:08, 5.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=27--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:00:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 27 + INFO | >> # successes: 27 (100.0%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:30<02:04, 5.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=28--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:00:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 28 + INFO | >> # successes: 28 (100.0%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:36<02:07, 5.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=29--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:00:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 29 + INFO | >> # successes: 29 (100.0%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:44<02:10, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=30--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:00:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 30 + INFO | >> # successes: 30 (100.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [02:49<01:59, 5.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=31--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:00:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 31 + INFO | >> # successes: 31 (100.0%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [02:55<01:51, 5.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=32--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:00:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 32 + INFO | >> # successes: 32 (100.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:01<01:47, 5.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=33--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:00:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 33 + INFO | >> # successes: 33 (100.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:07<01:40, 5.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=34--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:00:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 34 + INFO | >> # successes: 34 (100.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:14<01:39, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=35--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:00:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 35 + INFO | >> # successes: 35 (100.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:19<01:29, 5.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=36--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:00:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 36 + INFO | >> # successes: 36 (100.0%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:24<01:21, 5.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=37--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 37 + INFO | >> # successes: 37 (100.0%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:30<01:14, 5.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=38--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 38 + INFO | >> # successes: 38 (100.0%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [03:36<01:10, 5.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=39--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 39 + INFO | >> # successes: 39 (100.0%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [03:42<01:03, 5.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=40--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 40 + INFO | >> # successes: 40 (100.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [03:47<00:56, 5.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=41--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 41 + INFO | >> # successes: 41 (100.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [03:53<00:50, 5.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=42--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 42 + INFO | >> # successes: 42 (100.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [03:58<00:44, 5.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=43--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 43 + INFO | >> # successes: 43 (100.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:03<00:38, 5.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=44--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 44 + INFO | >> # successes: 44 (100.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:09<00:33, 5.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=45--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 45 + INFO | >> # successes: 45 (100.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:14<00:27, 5.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=46--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 46 + INFO | >> # successes: 46 (100.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:20<00:21, 5.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=47--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:01:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 47 + INFO | >> # successes: 47 (100.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:25<00:16, 5.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=48--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:02:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 48 + INFO | >> # successes: 48 (100.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [04:30<00:10, 5.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=49--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:02:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 49 + INFO | >> # successes: 49 (100.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [04:37<00:05, 5.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=50--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/21 [13:02:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 50 + INFO | >> # successes: 50 (100.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [04:43<00:00, 5.79s/it] 100%|██████████| 50/50 [04:43<00:00, 5.67s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 1.0 + 10%|█ | 1/10 [04:46<43:00, 286.71s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=51--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:02:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 51 + INFO | >> # successes: 51 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:08<06:57, 8.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=52--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:02:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 52 + INFO | >> # successes: 52 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:15<06:17, 7.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=53--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:02:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 53 + INFO | >> # successes: 53 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:22<05:47, 7.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=54--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:02:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 54 + INFO | >> # successes: 54 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:29<05:27, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=55--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:02:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 55 + INFO | >> # successes: 55 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:36<05:20, 7.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=56--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:02:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 56 + INFO | >> # successes: 56 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:43<05:05, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=57--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:03:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 57 + INFO | >> # successes: 57 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:51<05:11, 7.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=58--success=False--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:03:20] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 58 + INFO | >> # successes: 57 (98.3%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:04<06:23, 9.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=59--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:03:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 59 + INFO | >> # successes: 58 (98.3%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:11<05:46, 8.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=60--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:03:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 60 + INFO | >> # successes: 59 (98.3%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:17<05:16, 7.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=61--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:03:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 61 + INFO | >> # successes: 60 (98.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:24<04:53, 7.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=62--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:03:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 62 + INFO | >> # successes: 61 (98.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:31<04:36, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=63--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:03:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 63 + INFO | >> # successes: 62 (98.4%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:38<04:24, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=64--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:04:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 64 + INFO | >> # successes: 63 (98.4%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:44<04:13, 7.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=65--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:04:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 65 + INFO | >> # successes: 64 (98.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:51<04:02, 6.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=66--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:04:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 66 + INFO | >> # successes: 65 (98.5%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:58<03:51, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=67--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:04:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 67 + INFO | >> # successes: 66 (98.5%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:04<03:43, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=68--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:04:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 68 + INFO | >> # successes: 67 (98.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:11<03:36, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=69--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:04:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 69 + INFO | >> # successes: 68 (98.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:18<03:30, 6.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=70--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:04:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 70 + INFO | >> # successes: 69 (98.6%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:24<03:22, 6.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=71--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:04:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 71 + INFO | >> # successes: 70 (98.6%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:32<03:19, 6.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=72--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:04:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 72 + INFO | >> # successes: 71 (98.6%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:40<03:20, 7.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=73--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:05:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 73 + INFO | >> # successes: 72 (98.6%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:47<03:18, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=74--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:05:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 74 + INFO | >> # successes: 73 (98.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:54<03:06, 7.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=75--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:05:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 75 + INFO | >> # successes: 74 (98.7%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:01<02:58, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=76--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:05:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 76 + INFO | >> # successes: 75 (98.7%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:08<02:48, 7.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=77--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:05:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 77 + INFO | >> # successes: 76 (98.7%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:15<02:44, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=78--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:05:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 78 + INFO | >> # successes: 77 (98.7%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:22<02:35, 7.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=79--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:05:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 79 + INFO | >> # successes: 78 (98.7%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:29<02:26, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=80--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:05:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 80 + INFO | >> # successes: 79 (98.8%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:38<02:30, 7.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=81--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:06:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 81 + INFO | >> # successes: 80 (98.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:45<02:23, 7.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=82--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:06:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 82 + INFO | >> # successes: 81 (98.8%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:53<02:17, 7.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=83--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:06:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 83 + INFO | >> # successes: 82 (98.8%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:00<02:05, 7.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=84--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:06:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 84 + INFO | >> # successes: 83 (98.8%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:07<01:56, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=85--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:06:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 85 + INFO | >> # successes: 84 (98.8%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:14<01:46, 7.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=86--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:06:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 86 + INFO | >> # successes: 85 (98.8%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:21<01:39, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=87--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:06:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 87 + INFO | >> # successes: 86 (98.9%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:28<01:31, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=88--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:06:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 88 + INFO | >> # successes: 87 (98.9%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:35<01:25, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=89--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:06:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 89 + INFO | >> # successes: 88 (98.9%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:42<01:16, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=90--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:07:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 90 + INFO | >> # successes: 89 (98.9%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:49<01:09, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=91--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:07:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 91 + INFO | >> # successes: 90 (98.9%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:55<01:02, 6.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=92--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:07:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 92 + INFO | >> # successes: 91 (98.9%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:02<00:55, 6.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=93--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:07:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 93 + INFO | >> # successes: 92 (98.9%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:12<00:54, 7.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=94--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:07:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 94 + INFO | >> # successes: 93 (98.9%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:19<00:44, 7.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=95--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:07:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 95 + INFO | >> # successes: 94 (98.9%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:27<00:38, 7.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=96--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:07:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 96 + INFO | >> # successes: 95 (99.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:34<00:29, 7.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=97--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:07:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 97 + INFO | >> # successes: 96 (99.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:41<00:22, 7.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=98--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:08:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 98 + INFO | >> # successes: 97 (99.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:49<00:14, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=99--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:08:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 99 + INFO | >> # successes: 98 (99.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:56<00:07, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=100--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/21 [13:08:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 100 + INFO | >> # successes: 99 (99.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:02<00:00, 7.04s/it] 100%|██████████| 50/50 [06:02<00:00, 7.25s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.99 + 20%|██ | 2/10 [10:50<44:17, 332.16s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=101--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:08:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 101 + INFO | >> # successes: 100 (99.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:11, 6.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=102--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:08:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 102 + INFO | >> # successes: 101 (99.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:12<05:08, 6.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=103--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:08:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 103 + INFO | >> # successes: 102 (99.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:19<05:04, 6.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=104--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:08:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 104 + INFO | >> # successes: 103 (99.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:26<05:01, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=105--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:08:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 105 + INFO | >> # successes: 104 (99.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:32<04:54, 6.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=106--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:08:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 106 + INFO | >> # successes: 105 (99.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:39<04:48, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=107--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:09:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 107 + INFO | >> # successes: 106 (99.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:45<04:38, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=108--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:09:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 108 + INFO | >> # successes: 107 (99.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:52<04:38, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=109--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:09:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 109 + INFO | >> # successes: 108 (99.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:58<04:30, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=110--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:09:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 110 + INFO | >> # successes: 109 (99.1%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:05<04:22, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=111--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:09:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 111 + INFO | >> # successes: 110 (99.1%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:11<04:08, 6.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=112--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:09:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 112 + INFO | >> # successes: 111 (99.1%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:17<04:02, 6.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=113--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:09:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 113 + INFO | >> # successes: 112 (99.1%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:24<03:59, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=114--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:09:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 114 + INFO | >> # successes: 113 (99.1%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:31<03:55, 6.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=115--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:09:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 115 + INFO | >> # successes: 114 (99.1%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:37<03:48, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=116--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:10:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 116 + INFO | >> # successes: 115 (99.1%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:44<03:44, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=117--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:10:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 117 + INFO | >> # successes: 116 (99.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:51<03:39, 6.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=118--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:10:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 118 + INFO | >> # successes: 117 (99.2%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:57<03:32, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=119--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:10:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 119 + INFO | >> # successes: 118 (99.2%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:04<03:22, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=120--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:10:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 120 + INFO | >> # successes: 119 (99.2%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:10<03:14, 6.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=121--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:10:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 121 + INFO | >> # successes: 120 (99.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:16<03:06, 6.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=122--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:10:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 122 + INFO | >> # successes: 121 (99.2%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:23<03:01, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=123--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:10:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 123 + INFO | >> # successes: 122 (99.2%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:29<02:55, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=124--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:10:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 124 + INFO | >> # successes: 123 (99.2%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:36<02:46, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=125--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:11:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 125 + INFO | >> # successes: 124 (99.2%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:42<02:41, 6.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=126--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:11:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 126 + INFO | >> # successes: 125 (99.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:49<02:35, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=127--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:11:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 127 + INFO | >> # successes: 126 (99.2%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:55<02:29, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=128--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:11:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 128 + INFO | >> # successes: 127 (99.2%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:02<02:27, 6.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=129--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:11:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 129 + INFO | >> # successes: 128 (99.2%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:09<02:17, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=130--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:11:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 130 + INFO | >> # successes: 129 (99.2%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:15<02:11, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=131--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:11:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 131 + INFO | >> # successes: 130 (99.2%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:22<02:06, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=132--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:11:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 132 + INFO | >> # successes: 131 (99.2%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:29<01:59, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=133--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:11:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 133 + INFO | >> # successes: 132 (99.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:35<01:52, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=134--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:12:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 134 + INFO | >> # successes: 133 (99.3%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:42<01:46, 6.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=135--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:12:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 135 + INFO | >> # successes: 134 (99.3%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:49<01:40, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=136--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:12:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 136 + INFO | >> # successes: 135 (99.3%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:55<01:32, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=137--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:12:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 137 + INFO | >> # successes: 136 (99.3%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:02<01:27, 6.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=138--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:12:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 138 + INFO | >> # successes: 137 (99.3%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:09<01:22, 6.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=139--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:12:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 139 + INFO | >> # successes: 138 (99.3%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:16<01:13, 6.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=140--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:12:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 140 + INFO | >> # successes: 139 (99.3%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:22<01:05, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=141--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:12:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 141 + INFO | >> # successes: 140 (99.3%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:28<00:58, 6.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=142--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:12:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 142 + INFO | >> # successes: 141 (99.3%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:34<00:50, 6.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=143--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:13:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 143 + INFO | >> # successes: 142 (99.3%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:41<00:44, 6.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=144--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:13:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 144 + INFO | >> # successes: 143 (99.3%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:48<00:40, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=145--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:13:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 145 + INFO | >> # successes: 144 (99.3%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:55<00:33, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=146--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:13:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 146 + INFO | >> # successes: 145 (99.3%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:01<00:26, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=147--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:13:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 147 + INFO | >> # successes: 146 (99.3%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:08<00:20, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=148--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:13:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 148 + INFO | >> # successes: 147 (99.3%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:15<00:13, 6.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=149--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:13:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 149 + INFO | >> # successes: 148 (99.3%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:22<00:06, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=150--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/21 [13:13:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 150 + INFO | >> # successes: 149 (99.3%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:28<00:00, 6.63s/it] 100%|██████████| 50/50 [05:28<00:00, 6.57s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9933333333333333 + 30%|███ | 3/10 [16:20<38:37, 331.10s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=151--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:13:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 151 + INFO | >> # successes: 150 (99.3%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<04:54, 6.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=152--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:14:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 152 + INFO | >> # successes: 151 (99.3%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:11<04:40, 5.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=153--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:14:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 153 + INFO | >> # successes: 152 (99.3%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:18<04:49, 6.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=154--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:14:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 154 + INFO | >> # successes: 153 (99.4%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:24<04:47, 6.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=155--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:14:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 155 + INFO | >> # successes: 154 (99.4%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:30<04:40, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=156--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:14:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 156 + INFO | >> # successes: 155 (99.4%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:37<04:45, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=157--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:14:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 157 + INFO | >> # successes: 156 (99.4%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:45<04:53, 6.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=158--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:14:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 158 + INFO | >> # successes: 157 (99.4%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:51<04:35, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=159--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:14:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 159 + INFO | >> # successes: 158 (99.4%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:57<04:25, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=160--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:14:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 160 + INFO | >> # successes: 159 (99.4%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:03<04:12, 6.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=161--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:14:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 161 + INFO | >> # successes: 160 (99.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:09<03:57, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=162--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:15:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 162 + INFO | >> # successes: 161 (99.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:16<04:05, 6.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=163--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:15:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 163 + INFO | >> # successes: 162 (99.4%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:22<03:55, 6.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=164--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:15:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 164 + INFO | >> # successes: 163 (99.4%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:28<03:47, 6.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=165--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:15:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 165 + INFO | >> # successes: 164 (99.4%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:35<03:42, 6.35s/it]09/21 [13:15:25] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=166--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:15:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 166 + INFO | >> # successes: 165 (99.4%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:42<03:43, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=167--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:15:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 167 + INFO | >> # successes: 166 (99.4%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:48<03:31, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=168--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:15:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 168 + INFO | >> # successes: 167 (99.4%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:54<03:20, 6.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=169--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:15:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 169 + INFO | >> # successes: 168 (99.4%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:00<03:10, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=170--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:15:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 170 + INFO | >> # successes: 169 (99.4%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:06<03:05, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=171--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:16:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 171 + INFO | >> # successes: 170 (99.4%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:12<03:00, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=172--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:16:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 172 + INFO | >> # successes: 171 (99.4%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:19<02:56, 6.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=173--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:16:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 173 + INFO | >> # successes: 172 (99.4%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:25<02:49, 6.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=174--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:16:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 174 + INFO | >> # successes: 173 (99.4%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:32<02:45, 6.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=175--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:16:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 175 + INFO | >> # successes: 174 (99.4%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:38<02:38, 6.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=176--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:16:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 176 + INFO | >> # successes: 175 (99.4%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:44<02:30, 6.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=177--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:16:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 177 + INFO | >> # successes: 176 (99.4%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:50<02:20, 6.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=178--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:16:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 178 + INFO | >> # successes: 177 (99.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:55<02:11, 5.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=179--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:16:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 179 + INFO | >> # successes: 178 (99.4%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:02<02:06, 6.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=180--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:16:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 180 + INFO | >> # successes: 179 (99.4%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:09<02:11, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=181--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:17:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 181 + INFO | >> # successes: 180 (99.4%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:15<02:01, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=182--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:17:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 182 + INFO | >> # successes: 181 (99.5%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:21<01:52, 6.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=183--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:17:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 183 + INFO | >> # successes: 182 (99.5%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:28<01:49, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=184--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:17:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 184 + INFO | >> # successes: 183 (99.5%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:35<01:42, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=185--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:17:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 185 + INFO | >> # successes: 184 (99.5%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:42<01:39, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=186--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:17:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 186 + INFO | >> # successes: 185 (99.5%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:48<01:30, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=187--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:17:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 187 + INFO | >> # successes: 186 (99.5%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:54<01:24, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=188--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:17:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 188 + INFO | >> # successes: 187 (99.5%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:00<01:14, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=189--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:17:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 189 + INFO | >> # successes: 188 (99.5%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:06<01:08, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=190--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:18:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 190 + INFO | >> # successes: 189 (99.5%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:12<01:01, 6.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=191--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:18:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 191 + INFO | >> # successes: 190 (99.5%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:19<00:58, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=192--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:18:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 192 + INFO | >> # successes: 191 (99.5%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:25<00:50, 6.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=193--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:18:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 193 + INFO | >> # successes: 192 (99.5%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:31<00:43, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=194--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:18:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 194 + INFO | >> # successes: 193 (99.5%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:37<00:36, 6.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=195--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:18:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 195 + INFO | >> # successes: 194 (99.5%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:43<00:30, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=196--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:18:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 196 + INFO | >> # successes: 195 (99.5%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:49<00:24, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=197--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:18:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 197 + INFO | >> # successes: 196 (99.5%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:55<00:18, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=198--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:18:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 198 + INFO | >> # successes: 197 (99.5%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:01<00:12, 6.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=199--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:18:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 199 + INFO | >> # successes: 198 (99.5%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:07<00:05, 5.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=200--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/21 [13:19:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 200 + INFO | >> # successes: 199 (99.5%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:13<00:00, 5.96s/it] 100%|██████████| 50/50 [05:13<00:00, 6.27s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.995 + 40%|████ | 4/10 [21:35<32:27, 324.64s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=201--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:19:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 201 + INFO | >> # successes: 200 (99.5%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:08<06:39, 8.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=202--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:19:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 202 + INFO | >> # successes: 201 (99.5%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:16<06:31, 8.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=203--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:19:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 203 + INFO | >> # successes: 202 (99.5%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:24<06:13, 7.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=204--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:19:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 204 + INFO | >> # successes: 203 (99.5%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:33<06:33, 8.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=205--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:19:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 205 + INFO | >> # successes: 204 (99.5%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:41<06:22, 8.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=206--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:19:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 206 + INFO | >> # successes: 205 (99.5%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:50<06:13, 8.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=207--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:20:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 207 + INFO | >> # successes: 206 (99.5%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:58<05:58, 8.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=208--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:20:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 208 + INFO | >> # successes: 207 (99.5%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:06<05:53, 8.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=209--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:20:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 209 + INFO | >> # successes: 208 (99.5%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:15<05:41, 8.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=210--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:20:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 210 + INFO | >> # successes: 209 (99.5%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:23<05:27, 8.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=211--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:20:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 211 + INFO | >> # successes: 210 (99.5%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:31<05:25, 8.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=212--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:20:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 212 + INFO | >> # successes: 211 (99.5%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:39<05:15, 8.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=213--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:20:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 213 + INFO | >> # successes: 212 (99.5%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:48<05:11, 8.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=214--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:21:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 214 + INFO | >> # successes: 213 (99.5%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:56<04:58, 8.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=215--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:21:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 215 + INFO | >> # successes: 214 (99.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:04<04:49, 8.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=216--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:21:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 216 + INFO | >> # successes: 215 (99.5%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:12<04:34, 8.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=217--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:21:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 217 + INFO | >> # successes: 216 (99.5%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:19<04:16, 7.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=218--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:21:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 218 + INFO | >> # successes: 217 (99.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:27<04:07, 7.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=219--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:21:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 219 + INFO | >> # successes: 218 (99.5%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:35<04:03, 7.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=220--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:21:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 220 + INFO | >> # successes: 219 (99.5%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:43<03:57, 7.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=221--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:21:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 221 + INFO | >> # successes: 220 (99.5%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:51<03:51, 7.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=222--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:22:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 222 + INFO | >> # successes: 221 (99.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:59<03:46, 8.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=223--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:22:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 223 + INFO | >> # successes: 222 (99.6%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:07<03:34, 7.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=224--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:22:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 224 + INFO | >> # successes: 223 (99.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:15<03:28, 8.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=225--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:22:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 225 + INFO | >> # successes: 224 (99.6%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:23<03:17, 7.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=226--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:22:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 226 + INFO | >> # successes: 225 (99.6%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:30<03:07, 7.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=227--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:22:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 227 + INFO | >> # successes: 226 (99.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:38<03:01, 7.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=228--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:22:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 228 + INFO | >> # successes: 227 (99.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:46<02:52, 7.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=229--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:22:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 229 + INFO | >> # successes: 228 (99.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:54<02:45, 7.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=230--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:23:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 230 + INFO | >> # successes: 229 (99.6%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [04:03<02:40, 8.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=231--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:23:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 231 + INFO | >> # successes: 230 (99.6%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:10<02:31, 7.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=232--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:23:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 232 + INFO | >> # successes: 231 (99.6%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:19<02:25, 8.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=233--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:23:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 233 + INFO | >> # successes: 232 (99.6%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:26<02:14, 7.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=234--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:23:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 234 + INFO | >> # successes: 233 (99.6%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:35<02:09, 8.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=235--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:23:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 235 + INFO | >> # successes: 234 (99.6%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:43<02:03, 8.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=236--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:23:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 236 + INFO | >> # successes: 235 (99.6%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:52<01:55, 8.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=237--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:24:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 237 + INFO | >> # successes: 236 (99.6%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [05:01<01:51, 8.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=238--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:24:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 238 + INFO | >> # successes: 237 (99.6%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [05:09<01:42, 8.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=239--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:24:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 239 + INFO | >> # successes: 238 (99.6%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [05:18<01:33, 8.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=240--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:24:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 240 + INFO | >> # successes: 239 (99.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [05:26<01:23, 8.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=241--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:24:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 241 + INFO | >> # successes: 240 (99.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [05:33<01:13, 8.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=242--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:24:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 242 + INFO | >> # successes: 241 (99.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:42<01:05, 8.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=243--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:24:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 243 + INFO | >> # successes: 242 (99.6%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:50<00:58, 8.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=244--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:25:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 244 + INFO | >> # successes: 243 (99.6%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:58<00:48, 8.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=245--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:25:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 245 + INFO | >> # successes: 244 (99.6%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [06:06<00:40, 8.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=246--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:25:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 246 + INFO | >> # successes: 245 (99.6%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [06:16<00:34, 8.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=247--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:25:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 247 + INFO | >> # successes: 246 (99.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [06:25<00:26, 8.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=248--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:25:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 248 + INFO | >> # successes: 247 (99.6%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [06:32<00:16, 8.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=249--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:25:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 249 + INFO | >> # successes: 248 (99.6%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [06:41<00:08, 8.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=250--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/21 [13:25:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 250 + INFO | >> # successes: 249 (99.6%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:49<00:00, 8.29s/it] 100%|██████████| 50/50 [06:49<00:00, 8.19s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.996 + 50%|█████ | 5/10 [28:25<29:38, 355.67s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=251--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:26:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 251 + INFO | >> # successes: 250 (99.6%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:05, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=252--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:26:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 252 + INFO | >> # successes: 251 (99.6%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:13<05:24, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=253--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:26:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 253 + INFO | >> # successes: 252 (99.6%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:19<05:08, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=254--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:26:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 254 + INFO | >> # successes: 253 (99.6%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:25<04:56, 6.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=255--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:26:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 255 + INFO | >> # successes: 254 (99.6%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:32<04:44, 6.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=256--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:26:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 256 + INFO | >> # successes: 255 (99.6%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:38<04:36, 6.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=257--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:26:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 257 + INFO | >> # successes: 256 (99.6%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:44<04:31, 6.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=258--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:26:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 258 + INFO | >> # successes: 257 (99.6%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:51<04:29, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=259--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:26:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 259 + INFO | >> # successes: 258 (99.6%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:57<04:22, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=260--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:26:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 260 + INFO | >> # successes: 259 (99.6%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:04<04:15, 6.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=261--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:27:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 261 + INFO | >> # successes: 260 (99.6%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:10<04:07, 6.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=262--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:27:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 262 + INFO | >> # successes: 261 (99.6%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:16<04:00, 6.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=263--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:27:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 263 + INFO | >> # successes: 262 (99.6%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:23<04:00, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=264--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:27:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 264 + INFO | >> # successes: 263 (99.6%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:29<03:54, 6.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=265--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:27:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 265 + INFO | >> # successes: 264 (99.6%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:38<04:07, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=266--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:27:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 266 + INFO | >> # successes: 265 (99.6%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:44<03:54, 6.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=267--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:27:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 267 + INFO | >> # successes: 266 (99.6%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:51<03:42, 6.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=268--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:27:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 268 + INFO | >> # successes: 267 (99.6%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:57<03:33, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=269--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:27:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 269 + INFO | >> # successes: 268 (99.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:04<03:26, 6.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=270--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:28:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 270 + INFO | >> # successes: 269 (99.6%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:11<03:20, 6.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=271--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:28:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 271 + INFO | >> # successes: 270 (99.6%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:17<03:08, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=272--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:28:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 272 + INFO | >> # successes: 271 (99.6%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:23<03:01, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=273--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:28:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 273 + INFO | >> # successes: 272 (99.6%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:30<02:55, 6.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=274--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:28:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 274 + INFO | >> # successes: 273 (99.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:36<02:49, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=275--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:28:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 275 + INFO | >> # successes: 274 (99.6%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:43<02:42, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=276--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:28:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 276 + INFO | >> # successes: 275 (99.6%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:49<02:34, 6.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=277--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:28:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 277 + INFO | >> # successes: 276 (99.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:55<02:25, 6.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=278--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:28:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 278 + INFO | >> # successes: 277 (99.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:01<02:17, 6.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=279--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:29:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 279 + INFO | >> # successes: 278 (99.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:07<02:10, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=280--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:29:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 280 + INFO | >> # successes: 279 (99.6%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:13<02:02, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=281--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:29:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 281 + INFO | >> # successes: 280 (99.6%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:20<01:58, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=282--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:29:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 282 + INFO | >> # successes: 281 (99.6%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:26<01:54, 6.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=283--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:29:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 283 + INFO | >> # successes: 282 (99.6%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:32<01:46, 6.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=284--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:29:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 284 + INFO | >> # successes: 283 (99.6%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:39<01:41, 6.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=285--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:29:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 285 + INFO | >> # successes: 284 (99.6%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:46<01:37, 6.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=286--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:29:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 286 + INFO | >> # successes: 285 (99.7%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:53<01:35, 6.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=287--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:29:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 287 + INFO | >> # successes: 286 (99.7%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:00<01:26, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=288--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:30:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 288 + INFO | >> # successes: 287 (99.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:06<01:18, 6.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=289--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:30:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 289 + INFO | >> # successes: 288 (99.7%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:13<01:14, 6.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=290--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:30:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 290 + INFO | >> # successes: 289 (99.7%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:20<01:07, 6.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=291--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:30:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 291 + INFO | >> # successes: 290 (99.7%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:26<01:00, 6.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=292--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:30:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 292 + INFO | >> # successes: 291 (99.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:32<00:52, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=293--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:30:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 293 + INFO | >> # successes: 292 (99.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:39<00:46, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=294--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:30:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 294 + INFO | >> # successes: 293 (99.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:46<00:39, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=295--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:30:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 295 + INFO | >> # successes: 294 (99.7%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:52<00:32, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=296--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:30:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 296 + INFO | >> # successes: 295 (99.7%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:59<00:26, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=297--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:31:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 297 + INFO | >> # successes: 296 (99.7%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:06<00:19, 6.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=298--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:31:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 298 + INFO | >> # successes: 297 (99.7%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:13<00:13, 6.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=299--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:31:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 299 + INFO | >> # successes: 298 (99.7%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:19<00:06, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=300--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/21 [13:31:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 300 + INFO | >> # successes: 299 (99.7%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:26<00:00, 6.63s/it] 100%|██████████| 50/50 [05:26<00:00, 6.52s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9966666666666667 + 60%|██████ | 6/10 [33:53<23:04, 346.06s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=301--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:31:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 301 + INFO | >> # successes: 300 (99.7%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:08, 6.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=302--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:31:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 302 + INFO | >> # successes: 301 (99.7%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:11<04:39, 5.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=303--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:31:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 303 + INFO | >> # successes: 302 (99.7%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:17<04:25, 5.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=304--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:31:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 304 + INFO | >> # successes: 303 (99.7%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:22<04:18, 5.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=305--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:31:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 305 + INFO | >> # successes: 304 (99.7%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:28<04:12, 5.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=306--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:31:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 306 + INFO | >> # successes: 305 (99.7%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:34<04:06, 5.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=307--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:32:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 307 + INFO | >> # successes: 306 (99.7%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:39<04:04, 5.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=308--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:32:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 308 + INFO | >> # successes: 307 (99.7%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:46<04:09, 5.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=309--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:32:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 309 + INFO | >> # successes: 308 (99.7%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:52<04:01, 5.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=310--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:32:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 310 + INFO | >> # successes: 309 (99.7%) run_libero_eval.py:226 + + 20%|██ | 10/50 [00:57<03:48, 5.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=311--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:32:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 311 + INFO | >> # successes: 310 (99.7%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:03<03:45, 5.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=312--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:32:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 312 + INFO | >> # successes: 311 (99.7%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:09<03:40, 5.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=313--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:32:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 313 + INFO | >> # successes: 312 (99.7%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:16<03:49, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=314--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:32:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 314 + INFO | >> # successes: 313 (99.7%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:21<03:34, 5.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=315--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:32:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 315 + INFO | >> # successes: 314 (99.7%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:27<03:30, 6.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=316--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:32:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 316 + INFO | >> # successes: 315 (99.7%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:34<03:31, 6.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=317--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:33:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 317 + INFO | >> # successes: 316 (99.7%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:41<03:30, 6.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=318--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:33:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 318 + INFO | >> # successes: 317 (99.7%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:47<03:25, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=319--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:33:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 319 + INFO | >> # successes: 318 (99.7%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:54<03:25, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=320--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:33:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 320 + INFO | >> # successes: 319 (99.7%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:03<03:36, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=321--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:33:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 321 + INFO | >> # successes: 320 (99.7%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:10<03:27, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=322--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:33:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 322 + INFO | >> # successes: 321 (99.7%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:17<03:21, 7.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=323--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:33:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 323 + INFO | >> # successes: 322 (99.7%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:24<03:07, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=324--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:33:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 324 + INFO | >> # successes: 323 (99.7%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:30<02:57, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=325--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:33:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 325 + INFO | >> # successes: 324 (99.7%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:37<02:49, 6.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=326--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:34:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 326 + INFO | >> # successes: 325 (99.7%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:44<02:44, 6.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=327--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:34:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 327 + INFO | >> # successes: 326 (99.7%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:50<02:34, 6.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=328--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:34:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 328 + INFO | >> # successes: 327 (99.7%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:58<02:33, 6.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=329--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:34:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 329 + INFO | >> # successes: 328 (99.7%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:05<02:25, 6.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=330--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:34:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 330 + INFO | >> # successes: 329 (99.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:11<02:15, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=331--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:34:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 331 + INFO | >> # successes: 330 (99.7%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:18<02:10, 6.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=332--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:34:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 332 + INFO | >> # successes: 331 (99.7%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:25<02:04, 6.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=333--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:34:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 333 + INFO | >> # successes: 332 (99.7%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:32<01:58, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=334--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:35:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 334 + INFO | >> # successes: 333 (99.7%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:39<01:51, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=335--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:35:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 335 + INFO | >> # successes: 334 (99.7%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:47<01:45, 7.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=336--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:35:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 336 + INFO | >> # successes: 335 (99.7%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:54<01:39, 7.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=337--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:35:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 337 + INFO | >> # successes: 336 (99.7%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:00<01:30, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=338--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:35:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 338 + INFO | >> # successes: 337 (99.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:08<01:25, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=339--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:35:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 339 + INFO | >> # successes: 338 (99.7%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:15<01:18, 7.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=340--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:35:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 340 + INFO | >> # successes: 339 (99.7%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:22<01:11, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=341--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:35:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 341 + INFO | >> # successes: 340 (99.7%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:29<01:02, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=342--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:35:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 342 + INFO | >> # successes: 341 (99.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:36<00:55, 6.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=343--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:36:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 343 + INFO | >> # successes: 342 (99.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:42<00:48, 6.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=344--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:36:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 344 + INFO | >> # successes: 343 (99.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:49<00:41, 6.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=345--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:36:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 345 + INFO | >> # successes: 344 (99.7%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:57<00:35, 7.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=346--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:36:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 346 + INFO | >> # successes: 345 (99.7%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:05<00:29, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=347--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:36:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 347 + INFO | >> # successes: 346 (99.7%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:12<00:21, 7.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=348--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:36:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 348 + INFO | >> # successes: 347 (99.7%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:19<00:14, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=349--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:36:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 349 + INFO | >> # successes: 348 (99.7%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:25<00:06, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=350--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/21 [13:36:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 350 + INFO | >> # successes: 349 (99.7%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:33<00:00, 7.01s/it] 100%|██████████| 50/50 [05:33<00:00, 6.66s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9971428571428571 + 70%|███████ | 7/10 [39:27<17:06, 342.21s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=351--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:37:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 351 + INFO | >> # successes: 350 (99.7%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<06:03, 7.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=352--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:37:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 352 + INFO | >> # successes: 351 (99.7%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:47, 7.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=353--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:37:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 353 + INFO | >> # successes: 352 (99.7%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:22<05:53, 7.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=354--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:37:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 354 + INFO | >> # successes: 353 (99.7%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:30<05:58, 7.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=355--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:37:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 355 + INFO | >> # successes: 354 (99.7%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:38<05:46, 7.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=356--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:37:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 356 + INFO | >> # successes: 355 (99.7%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:45<05:38, 7.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=357--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:37:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 357 + INFO | >> # successes: 356 (99.7%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:53<05:31, 7.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=358--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:37:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 358 + INFO | >> # successes: 357 (99.7%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:01<05:28, 7.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=359--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:38:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 359 + INFO | >> # successes: 358 (99.7%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:09<05:17, 7.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=360--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:38:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 360 + INFO | >> # successes: 359 (99.7%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:16<05:08, 7.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=361--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:38:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 361 + INFO | >> # successes: 360 (99.7%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:24<05:04, 7.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=362--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:38:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 362 + INFO | >> # successes: 361 (99.7%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:32<05:00, 7.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=363--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:38:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 363 + INFO | >> # successes: 362 (99.7%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:40<04:50, 7.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=364--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:38:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 364 + INFO | >> # successes: 363 (99.7%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:51<05:14, 8.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=365--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:38:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 365 + INFO | >> # successes: 364 (99.7%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:58<04:48, 8.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=366--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:39:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 366 + INFO | >> # successes: 365 (99.7%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:06<04:35, 8.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=367--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:39:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 367 + INFO | >> # successes: 366 (99.7%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:13<04:21, 7.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=368--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:39:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 368 + INFO | >> # successes: 367 (99.7%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:21<04:08, 7.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=369--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:39:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 369 + INFO | >> # successes: 368 (99.7%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:28<03:58, 7.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=370--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:39:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 370 + INFO | >> # successes: 369 (99.7%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:35<03:46, 7.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=371--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:39:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 371 + INFO | >> # successes: 370 (99.7%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:43<03:38, 7.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=372--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:39:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 372 + INFO | >> # successes: 371 (99.7%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:50<03:24, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=373--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:39:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 373 + INFO | >> # successes: 372 (99.7%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:57<03:19, 7.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=374--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:40:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 374 + INFO | >> # successes: 373 (99.7%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:05<03:13, 7.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=375--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:40:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 375 + INFO | >> # successes: 374 (99.7%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:13<03:07, 7.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=376--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:40:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 376 + INFO | >> # successes: 375 (99.7%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:21<03:03, 7.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=377--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:40:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 377 + INFO | >> # successes: 376 (99.7%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:28<02:53, 7.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=378--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:40:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 378 + INFO | >> # successes: 377 (99.7%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:37<02:55, 7.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=379--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:40:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 379 + INFO | >> # successes: 378 (99.7%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:45<02:46, 7.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=380--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:40:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 380 + INFO | >> # successes: 379 (99.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:52<02:36, 7.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=381--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:40:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 381 + INFO | >> # successes: 380 (99.7%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:00<02:27, 7.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=382--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:41:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 382 + INFO | >> # successes: 381 (99.7%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:08<02:19, 7.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=383--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:41:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 383 + INFO | >> # successes: 382 (99.7%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:15<02:10, 7.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=384--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:41:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 384 + INFO | >> # successes: 383 (99.7%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:23<02:04, 7.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=385--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:41:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 385 + INFO | >> # successes: 384 (99.7%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:31<01:57, 7.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=386--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:41:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 386 + INFO | >> # successes: 385 (99.7%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:39<01:48, 7.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=387--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:41:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 387 + INFO | >> # successes: 386 (99.7%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:46<01:39, 7.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=388--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:41:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 388 + INFO | >> # successes: 387 (99.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:54<01:31, 7.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=389--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:41:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 389 + INFO | >> # successes: 388 (99.7%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [05:01<01:24, 7.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=390--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:42:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 390 + INFO | >> # successes: 389 (99.7%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [05:09<01:15, 7.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=391--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:42:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 391 + INFO | >> # successes: 390 (99.7%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [05:17<01:10, 7.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=392--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:42:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 392 + INFO | >> # successes: 391 (99.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:25<01:03, 7.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=393--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:42:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 393 + INFO | >> # successes: 392 (99.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:33<00:55, 7.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=394--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:42:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 394 + INFO | >> # successes: 393 (99.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:41<00:47, 7.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=395--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:42:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 395 + INFO | >> # successes: 394 (99.7%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:49<00:39, 7.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=396--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:42:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 396 + INFO | >> # successes: 395 (99.7%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:56<00:30, 7.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=397--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:43:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 397 + INFO | >> # successes: 396 (99.7%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [06:05<00:24, 8.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=398--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:43:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 398 + INFO | >> # successes: 397 (99.7%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [06:13<00:15, 7.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=399--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:43:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 399 + INFO | >> # successes: 398 (99.7%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [06:22<00:08, 8.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=400--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/21 [13:43:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 400 + INFO | >> # successes: 399 (99.8%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:31<00:00, 8.42s/it] 100%|██████████| 50/50 [06:31<00:00, 7.82s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9975 + 80%|████████ | 8/10 [46:00<11:56, 358.19s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! +09/21 [13:43:28] INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=401--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:43:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 401 + INFO | >> # successes: 400 (99.8%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:17, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=402--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:43:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 402 + INFO | >> # successes: 401 (99.8%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:12<05:07, 6.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=403--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:43:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 403 + INFO | >> # successes: 402 (99.8%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:19<04:58, 6.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=404--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:43:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 404 + INFO | >> # successes: 403 (99.8%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:25<05:01, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=405--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:44:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 405 + INFO | >> # successes: 404 (99.8%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:32<04:50, 6.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=406--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:44:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 406 + INFO | >> # successes: 405 (99.8%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:39<04:57, 6.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=407--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:44:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 407 + INFO | >> # successes: 406 (99.8%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:45<04:44, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=408--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:44:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 408 + INFO | >> # successes: 407 (99.8%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:52<04:35, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=409--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:44:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 409 + INFO | >> # successes: 408 (99.8%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:59<04:30, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=410--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:44:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 410 + INFO | >> # successes: 409 (99.8%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:05<04:25, 6.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=411--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:44:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 411 + INFO | >> # successes: 410 (99.8%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:12<04:23, 6.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=412--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:44:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 412 + INFO | >> # successes: 411 (99.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:20<04:25, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=413--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:44:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 413 + INFO | >> # successes: 412 (99.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:27<04:19, 7.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=414--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:45:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 414 + INFO | >> # successes: 413 (99.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:33<04:05, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=415--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:45:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 415 + INFO | >> # successes: 414 (99.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:40<03:54, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=416--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:45:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 416 + INFO | >> # successes: 415 (99.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:46<03:39, 6.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=417--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:45:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 417 + INFO | >> # successes: 416 (99.8%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:52<03:31, 6.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=418--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:45:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 418 + INFO | >> # successes: 417 (99.8%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:58<03:23, 6.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=419--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:45:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 419 + INFO | >> # successes: 418 (99.8%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:07<03:36, 6.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=420--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:45:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 420 + INFO | >> # successes: 419 (99.8%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:13<03:24, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=421--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:45:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 421 + INFO | >> # successes: 420 (99.8%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:19<03:14, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=422--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:45:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 422 + INFO | >> # successes: 421 (99.8%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:26<03:07, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=423--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:46:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 423 + INFO | >> # successes: 422 (99.8%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:33<02:58, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=424--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:46:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 424 + INFO | >> # successes: 423 (99.8%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:41<03:04, 7.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=425--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:46:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 425 + INFO | >> # successes: 424 (99.8%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:47<02:49, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=426--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:46:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 426 + INFO | >> # successes: 425 (99.8%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:53<02:37, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=427--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:46:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 427 + INFO | >> # successes: 426 (99.8%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:59<02:27, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=428--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:46:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 428 + INFO | >> # successes: 427 (99.8%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:05<02:21, 6.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=429--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:46:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 429 + INFO | >> # successes: 428 (99.8%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:12<02:19, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=430--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:46:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 430 + INFO | >> # successes: 429 (99.8%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:19<02:12, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=431--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:46:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 431 + INFO | >> # successes: 430 (99.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:26<02:07, 6.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=432--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:47:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 432 + INFO | >> # successes: 431 (99.8%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:32<01:59, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=433--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:47:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 433 + INFO | >> # successes: 432 (99.8%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:40<01:58, 6.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=434--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:47:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 434 + INFO | >> # successes: 433 (99.8%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:48<01:54, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=435--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:47:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 435 + INFO | >> # successes: 434 (99.8%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:54<01:42, 6.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=436--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:47:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 436 + INFO | >> # successes: 435 (99.8%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:03<01:45, 7.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=437--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:47:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 437 + INFO | >> # successes: 436 (99.8%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:09<01:33, 7.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=438--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:47:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 438 + INFO | >> # successes: 437 (99.8%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:16<01:23, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=439--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:47:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 439 + INFO | >> # successes: 438 (99.8%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:22<01:15, 6.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=440--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:47:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 440 + INFO | >> # successes: 439 (99.8%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:29<01:07, 6.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=441--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:48:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 441 + INFO | >> # successes: 440 (99.8%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:35<00:59, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=442--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:48:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 442 + INFO | >> # successes: 441 (99.8%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:42<00:53, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=443--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:48:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 443 + INFO | >> # successes: 442 (99.8%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:48<00:45, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=444--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:48:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 444 + INFO | >> # successes: 443 (99.8%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:55<00:39, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=445--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:48:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 445 + INFO | >> # successes: 444 (99.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:02<00:33, 6.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=446--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:48:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 446 + INFO | >> # successes: 445 (99.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:08<00:26, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=447--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:48:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 447 + INFO | >> # successes: 446 (99.8%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:14<00:19, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=448--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:48:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 448 + INFO | >> # successes: 447 (99.8%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:21<00:12, 6.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=449--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:48:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 449 + INFO | >> # successes: 448 (99.8%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:27<00:06, 6.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=450--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/21 [13:49:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 450 + INFO | >> # successes: 449 (99.8%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:34<00:00, 6.50s/it] 100%|██████████| 50/50 [05:34<00:00, 6.69s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9977777777777778 + 90%|█████████ | 9/10 [51:35<05:51, 351.10s/it][Warning]: datasets path ../../libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=451--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:49:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 451 + INFO | >> # successes: 450 (99.8%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<05:51, 7.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=452--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:49:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 452 + INFO | >> # successes: 451 (99.8%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:52, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=453--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:49:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 453 + INFO | >> # successes: 452 (99.8%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:22<05:47, 7.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=454--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:49:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 454 + INFO | >> # successes: 453 (99.8%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:29<05:40, 7.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=455--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:49:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 455 + INFO | >> # successes: 454 (99.8%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:37<05:35, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=456--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:49:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 456 + INFO | >> # successes: 455 (99.8%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:44<05:26, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=457--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:49:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 457 + INFO | >> # successes: 456 (99.8%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:51<05:20, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=458--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:50:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 458 + INFO | >> # successes: 457 (99.8%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:59<05:14, 7.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=459--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:50:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 459 + INFO | >> # successes: 458 (99.8%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:08<05:21, 7.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=460--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:50:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 460 + INFO | >> # successes: 459 (99.8%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:15<05:13, 7.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=461--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:50:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 461 + INFO | >> # successes: 460 (99.8%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:23<05:00, 7.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=462--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:50:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 462 + INFO | >> # successes: 461 (99.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:30<04:45, 7.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=463--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:50:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 463 + INFO | >> # successes: 462 (99.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:37<04:35, 7.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=464--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:50:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 464 + INFO | >> # successes: 463 (99.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:47<04:48, 8.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=465--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:50:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 465 + INFO | >> # successes: 464 (99.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:54<04:37, 7.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=466--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:51:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 466 + INFO | >> # successes: 465 (99.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:03<04:36, 8.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=467--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:51:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 467 + INFO | >> # successes: 466 (99.8%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:10<04:21, 7.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=468--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:51:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 468 + INFO | >> # successes: 467 (99.8%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:19<04:17, 8.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=469--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:51:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 469 + INFO | >> # successes: 468 (99.8%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:26<04:04, 7.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=470--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:51:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 470 + INFO | >> # successes: 469 (99.8%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:35<04:01, 8.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=471--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:51:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 471 + INFO | >> # successes: 470 (99.8%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:43<04:00, 8.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=472--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:51:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 472 + INFO | >> # successes: 471 (99.8%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:52<03:57, 8.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=473--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:52:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 473 + INFO | >> # successes: 472 (99.8%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:00<03:38, 8.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=474--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:52:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 474 + INFO | >> # successes: 473 (99.8%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:07<03:22, 7.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=475--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:52:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 475 + INFO | >> # successes: 474 (99.8%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:15<03:16, 7.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=476--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:52:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 476 + INFO | >> # successes: 475 (99.8%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:22<03:07, 7.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=477--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:52:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 477 + INFO | >> # successes: 476 (99.8%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:30<02:56, 7.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=478--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:52:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 478 + INFO | >> # successes: 477 (99.8%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:37<02:48, 7.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=479--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:52:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 479 + INFO | >> # successes: 478 (99.8%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:45<02:40, 7.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=480--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:52:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 480 + INFO | >> # successes: 479 (99.8%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:52<02:32, 7.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=481--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:53:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 481 + INFO | >> # successes: 480 (99.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:00<02:22, 7.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=482--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:53:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 482 + INFO | >> # successes: 481 (99.8%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:07<02:13, 7.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=483--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:53:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 483 + INFO | >> # successes: 482 (99.8%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:14<02:06, 7.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=484--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:53:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 484 + INFO | >> # successes: 483 (99.8%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:22<02:00, 7.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=485--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:53:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 485 + INFO | >> # successes: 484 (99.8%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:29<01:50, 7.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=486--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:53:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 486 + INFO | >> # successes: 485 (99.8%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:37<01:43, 7.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=487--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:53:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 487 + INFO | >> # successes: 486 (99.8%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:44<01:36, 7.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=488--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:53:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 488 + INFO | >> # successes: 487 (99.8%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:52<01:29, 7.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=489--success=False--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:54:09] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 489 + INFO | >> # successes: 487 (99.6%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [05:04<01:38, 8.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=490--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:54:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 490 + INFO | >> # successes: 488 (99.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [05:11<01:24, 8.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=491--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:54:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 491 + INFO | >> # successes: 489 (99.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [05:18<01:12, 8.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=492--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:54:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 492 + INFO | >> # successes: 490 (99.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:26<01:03, 7.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=493--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:54:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 493 + INFO | >> # successes: 491 (99.6%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:33<00:53, 7.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=494--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:54:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 494 + INFO | >> # successes: 492 (99.6%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:40<00:45, 7.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=495--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:54:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 495 + INFO | >> # successes: 493 (99.6%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:48<00:37, 7.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=496--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:55:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 496 + INFO | >> # successes: 494 (99.6%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:55<00:30, 7.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=497--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:55:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 497 + INFO | >> # successes: 495 (99.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [06:04<00:23, 7.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=498--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:55:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 498 + INFO | >> # successes: 496 (99.6%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [06:11<00:15, 7.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=499--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:55:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 499 + INFO | >> # successes: 497 (99.6%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [06:19<00:07, 7.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-12_57_15--episode=500--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/21 [13:55:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 500 + INFO | >> # successes: 498 (99.6%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:25<00:00, 7.32s/it] 100%|██████████| 50/50 [06:25<00:00, 7.72s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.996 + 100%|██████████| 10/10 [58:02<00:00, 362.22s/it] 100%|██████████| 10/10 [58:02<00:00, 348.27s/it] + INFO | >> Final results: run_libero_eval.py:226 + INFO | >> Total episodes: 500 run_libero_eval.py:226 + INFO | >> Total successes: 498 run_libero_eval.py:226 + INFO | >> Overall success rate: run_libero_eval.py:226 + 0.9960 (99.6%) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__ + self.gl_ctx.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__ + self.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) diff --git a/VLA-Adapter-UAV/eval_logs/Inference-Goal--97.2.log b/VLA-Adapter-UAV/eval_logs/Inference-Goal--97.2.log new file mode 100644 index 0000000000000000000000000000000000000000..afa846b19ea54d4dd107daddf2eeff938de774a4 --- /dev/null +++ b/VLA-Adapter-UAV/eval_logs/Inference-Goal--97.2.log @@ -0,0 +1,7021 @@ +2025-08-28 10:49:37.093751: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`. +2025-08-28 10:49:37.127109: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2025-08-28 10:49:37.127179: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2025-08-28 10:49:37.128436: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2025-08-28 10:49:37.134923: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 AVX_VNNI AMX_TILE AMX_INT8 AMX_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2025-08-28 10:49:37.764533: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +[robosuite WARNING] No private macro file found! (macros.py:53) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:54) +[robosuite WARNING] To setup, run: python /ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:55) +2025-08-28 10:49:41.208880: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2348] TensorFlow was not built with CUDA kernel binaries compatible with compute capability 9.0. CUDA kernels will be jit-compiled from PTX, which could take 30 minutes or longer. +Using LIBERO constants: + NUM_ACTIONS_CHUNK = 8 + ACTION_DIM = 7 + PROPRIO_DIM = 8 + ACTION_PROPRIO_NORMALIZATION_TYPE = bounds_q99 +If needed, manually set the correct constants in `prismatic/vla/constants.py`! +Instantiating pretrained VLA policy... + + +Loaded model: +08/28 [10:50:01] INFO | >> Logging to local log file: run_libero_eval.py:211 + ./experiments/logs/EVAL-libero_ + goal-openvla-2025_08_28-10_49_5 + 3.txt +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] + INFO | >> Task suite: libero_goal run_libero_eval.py:226 + 0%| | 0/10 [00:00> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=1--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:50:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 1 + INFO | >> # successes: 1 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<06:05, 7.46s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=2--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:50:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 2 + INFO | >> # successes: 2 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:12<04:50, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=3--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:50:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 3 + INFO | >> # successes: 3 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:17<04:15, 5.44s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=4--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:50:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 4 + INFO | >> # successes: 4 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:26<05:19, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=5--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:50:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 5 + INFO | >> # successes: 5 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:33<05:13, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=6--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:50:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 6 + INFO | >> # successes: 6 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:48<07:11, 9.81s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=7--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:50:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 7 + INFO | >> # successes: 7 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:53<05:54, 8.25s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=8--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 8 + INFO | >> # successes: 8 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:58<05:02, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=9--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 9 + INFO | >> # successes: 9 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:05<04:44, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=10--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 10 + INFO | >> # successes: 10 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:14<05:13, 7.83s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=11--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 11 + INFO | >> # successes: 11 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:19<04:29, 6.92s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=12--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 12 + INFO | >> # successes: 12 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:24<03:56, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=13--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 13 + INFO | >> # successes: 13 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:30<03:49, 6.19s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=14--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 14 + INFO | >> # successes: 14 (100.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:35<03:29, 5.83s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=15--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 15 + INFO | >> # successes: 15 (100.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:40<03:12, 5.49s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=16--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 16 + INFO | >> # successes: 16 (100.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:45<02:59, 5.29s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=17--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 17 + INFO | >> # successes: 17 (100.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:50<02:53, 5.25s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=18--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:51:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 18 + INFO | >> # successes: 18 (100.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:55<02:47, 5.23s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=19--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:52:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 19 + INFO | >> # successes: 19 (100.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:00<02:36, 5.06s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=20--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:52:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 20 + INFO | >> # successes: 20 (100.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:09<03:06, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=21--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:52:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 21 + INFO | >> # successes: 21 (100.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:14<02:51, 5.90s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=22--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:52:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 22 + INFO | >> # successes: 22 (100.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:19<02:36, 5.60s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=23--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:52:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 23 + INFO | >> # successes: 23 (100.0%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:24<02:26, 5.43s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=24--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:52:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 24 + INFO | >> # successes: 24 (100.0%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:29<02:19, 5.37s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=25--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:52:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 25 + INFO | >> # successes: 25 (100.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:35<02:23, 5.73s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=26--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:52:50] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 26 + INFO | >> # successes: 25 (96.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:46<02:52, 7.19s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=27--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:52:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 27 + INFO | >> # successes: 26 (96.3%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:56<03:00, 7.86s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=28--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:53:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 28 + INFO | >> # successes: 27 (96.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:00<02:32, 6.92s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=29--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:53:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 29 + INFO | >> # successes: 28 (96.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:06<02:18, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=30--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:53:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 30 + INFO | >> # successes: 29 (96.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:11<02:01, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=31--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:53:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 31 + INFO | >> # successes: 30 (96.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:17<01:52, 5.92s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=32--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:53:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 32 + INFO | >> # successes: 31 (96.9%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:21<01:40, 5.59s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=33--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:53:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 33 + INFO | >> # successes: 32 (97.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:27<01:36, 5.66s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=34--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:53:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 34 + INFO | >> # successes: 33 (97.1%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:33<01:31, 5.70s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=35--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:53:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 35 + INFO | >> # successes: 34 (97.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:39<01:28, 5.89s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=36--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:53:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 36 + INFO | >> # successes: 35 (97.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:48<01:34, 6.73s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=37--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:54:04] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 37 + INFO | >> # successes: 35 (94.6%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:00<01:46, 8.20s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=38--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:54:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 38 + INFO | >> # successes: 36 (94.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:05<01:29, 7.43s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=39--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:54:22] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 39 + INFO | >> # successes: 36 (92.3%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:18<01:38, 8.95s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=40--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:54:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 40 + INFO | >> # successes: 37 (92.5%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:23<01:18, 7.86s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=41--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:54:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 41 + INFO | >> # successes: 38 (92.7%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:30<01:08, 7.60s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=42--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:54:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 42 + INFO | >> # successes: 39 (92.9%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:36<00:57, 7.19s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=43--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:54:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 43 + INFO | >> # successes: 40 (93.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:41<00:45, 6.44s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=44--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:54:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 44 + INFO | >> # successes: 41 (93.2%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:49<00:41, 6.88s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=45--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:54:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 45 + INFO | >> # successes: 42 (93.3%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:54<00:31, 6.35s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=46--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:55:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 46 + INFO | >> # successes: 43 (93.5%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:01<00:26, 6.63s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=47--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:55:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 47 + INFO | >> # successes: 44 (93.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:07<00:18, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=48--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:55:21] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 48 + INFO | >> # successes: 44 (91.7%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:17<00:15, 7.50s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=49--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:55:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 49 + INFO | >> # successes: 45 (91.8%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:22<00:06, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=50--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +08/28 [10:55:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 50 + INFO | >> # successes: 46 (92.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:28<00:00, 6.62s/it] 100%|██████████| 50/50 [05:28<00:00, 6.58s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.92 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.92 + 10%|█ | 1/10 [05:31<49:42, 331.38s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=51--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:55:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 51 + INFO | >> # successes: 47 (92.2%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:04<03:46, 4.63s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=52--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:55:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 52 + INFO | >> # successes: 48 (92.3%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:09<03:37, 4.54s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=53--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:55:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 53 + INFO | >> # successes: 49 (92.5%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:13<03:26, 4.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=54--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:55:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 54 + INFO | >> # successes: 50 (92.6%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:17<03:23, 4.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=55--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:55:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 55 + INFO | >> # successes: 51 (92.7%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:21<03:14, 4.32s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=56--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:55:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 56 + INFO | >> # successes: 52 (92.9%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:26<03:07, 4.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=57--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 57 + INFO | >> # successes: 53 (93.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:30<03:02, 4.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=58--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 58 + INFO | >> # successes: 54 (93.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:34<02:56, 4.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=59--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 59 + INFO | >> # successes: 55 (93.2%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:38<02:52, 4.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=60--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 60 + INFO | >> # successes: 56 (93.3%) run_libero_eval.py:226 + + 20%|██ | 10/50 [00:43<02:50, 4.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=61--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 61 + INFO | >> # successes: 57 (93.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [00:47<02:44, 4.23s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=62--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 62 + INFO | >> # successes: 58 (93.5%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [00:51<02:41, 4.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=63--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 63 + INFO | >> # successes: 59 (93.7%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [00:55<02:35, 4.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=64--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 64 + INFO | >> # successes: 60 (93.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [00:59<02:30, 4.18s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=65--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 65 + INFO | >> # successes: 61 (93.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:03<02:24, 4.13s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=66--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 66 + INFO | >> # successes: 62 (93.9%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:07<02:21, 4.16s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=67--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 67 + INFO | >> # successes: 63 (94.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:12<02:18, 4.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=68--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 68 + INFO | >> # successes: 64 (94.1%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:16<02:13, 4.17s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=69--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 69 + INFO | >> # successes: 65 (94.2%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:21<02:20, 4.54s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=70--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:56:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 70 + INFO | >> # successes: 66 (94.3%) run_libero_eval.py:226 + + 40%|████ | 20/50 [01:25<02:11, 4.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=71--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 71 + INFO | >> # successes: 67 (94.4%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [01:30<02:07, 4.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=72--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 72 + INFO | >> # successes: 68 (94.4%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [01:34<02:02, 4.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=73--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 73 + INFO | >> # successes: 69 (94.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [01:38<01:56, 4.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=74--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 74 + INFO | >> # successes: 70 (94.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [01:42<01:51, 4.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=75--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 75 + INFO | >> # successes: 71 (94.7%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [01:46<01:45, 4.22s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=76--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 76 + INFO | >> # successes: 72 (94.7%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [01:51<01:41, 4.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=77--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 77 + INFO | >> # successes: 73 (94.8%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [01:55<01:38, 4.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=78--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 78 + INFO | >> # successes: 74 (94.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [01:59<01:30, 4.13s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=79--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 79 + INFO | >> # successes: 75 (94.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:05<01:41, 4.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=80--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 80 + INFO | >> # successes: 76 (95.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [02:09<01:31, 4.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=81--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 81 + INFO | >> # successes: 77 (95.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [02:13<01:24, 4.45s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=82--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 82 + INFO | >> # successes: 78 (95.1%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [02:18<01:19, 4.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=83--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:57:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 83 + INFO | >> # successes: 79 (95.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [02:22<01:13, 4.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=84--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 84 + INFO | >> # successes: 80 (95.2%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [02:26<01:08, 4.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=85--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 85 + INFO | >> # successes: 81 (95.3%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [02:30<01:03, 4.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=86--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 86 + INFO | >> # successes: 82 (95.3%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [02:34<00:58, 4.16s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=87--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 87 + INFO | >> # successes: 83 (95.4%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [02:38<00:53, 4.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=88--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 88 + INFO | >> # successes: 84 (95.5%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [02:42<00:48, 4.02s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=89--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 89 + INFO | >> # successes: 85 (95.5%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [02:46<00:44, 4.04s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=90--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 90 + INFO | >> # successes: 86 (95.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [02:50<00:41, 4.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=91--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 91 + INFO | >> # successes: 87 (95.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [02:55<00:37, 4.22s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=92--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 92 + INFO | >> # successes: 88 (95.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [02:59<00:33, 4.17s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=93--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 93 + INFO | >> # successes: 89 (95.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [03:04<00:31, 4.50s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=94--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 94 + INFO | >> # successes: 90 (95.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [03:09<00:28, 4.68s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=95--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 95 + INFO | >> # successes: 91 (95.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [03:15<00:24, 4.92s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=96--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 96 + INFO | >> # successes: 92 (95.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [03:19<00:19, 4.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=97--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:58:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 97 + INFO | >> # successes: 93 (95.9%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [03:24<00:14, 4.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=98--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:59:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 98 + INFO | >> # successes: 94 (95.9%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [03:28<00:09, 4.57s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=99--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:59:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 99 + INFO | >> # successes: 95 (96.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [03:33<00:04, 4.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=100--success=True--task=put_the_bowl_on_the_stove.mp4 +08/28 [10:59:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 100 + INFO | >> # successes: 96 (96.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [03:37<00:00, 4.51s/it] 100%|██████████| 50/50 [03:37<00:00, 4.35s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.96 + 20%|██ | 2/10 [09:10<35:20, 265.09s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=101--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 101 + INFO | >> # successes: 97 (96.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:03<03:02, 3.73s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=102--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 102 + INFO | >> # successes: 98 (96.1%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:07<03:05, 3.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=103--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 103 + INFO | >> # successes: 99 (96.1%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:12<03:14, 4.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=104--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 104 + INFO | >> # successes: 100 (96.2%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:16<03:11, 4.16s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=105--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 105 + INFO | >> # successes: 101 (96.2%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:20<03:03, 4.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=106--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 106 + INFO | >> # successes: 102 (96.2%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:24<03:02, 4.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=107--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 107 + INFO | >> # successes: 103 (96.3%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:28<02:57, 4.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=108--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 108 + INFO | >> # successes: 104 (96.3%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:33<02:56, 4.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=109--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 109 + INFO | >> # successes: 105 (96.3%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:37<02:54, 4.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=110--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 110 + INFO | >> # successes: 106 (96.4%) run_libero_eval.py:226 + + 20%|██ | 10/50 [00:42<02:57, 4.44s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=111--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [10:59:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 111 + INFO | >> # successes: 107 (96.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [00:46<02:48, 4.32s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=112--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 112 + INFO | >> # successes: 108 (96.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [00:50<02:39, 4.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=113--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 113 + INFO | >> # successes: 109 (96.5%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [00:54<02:33, 4.16s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=114--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 114 + INFO | >> # successes: 110 (96.5%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [00:58<02:32, 4.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=115--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 115 + INFO | >> # successes: 111 (96.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:03<02:31, 4.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=116--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 116 + INFO | >> # successes: 112 (96.6%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:07<02:25, 4.28s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=117--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 117 + INFO | >> # successes: 113 (96.6%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:11<02:22, 4.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=118--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 118 + INFO | >> # successes: 114 (96.6%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:15<02:15, 4.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=119--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 119 + INFO | >> # successes: 115 (96.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:20<02:13, 4.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=120--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 120 + INFO | >> # successes: 116 (96.7%) run_libero_eval.py:226 + + 40%|████ | 20/50 [01:24<02:08, 4.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=121--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 121 + INFO | >> # successes: 117 (96.7%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [01:28<02:01, 4.18s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=122--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 122 + INFO | >> # successes: 118 (96.7%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [01:32<01:55, 4.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=123--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 123 + INFO | >> # successes: 119 (96.7%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [01:36<01:53, 4.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=124--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 124 + INFO | >> # successes: 120 (96.8%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [01:41<01:50, 4.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=125--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:00:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 125 + INFO | >> # successes: 121 (96.8%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [01:45<01:48, 4.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=126--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 126 + INFO | >> # successes: 122 (96.8%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [01:51<01:52, 4.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=127--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 127 + INFO | >> # successes: 123 (96.9%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [01:56<01:49, 4.76s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=128--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 128 + INFO | >> # successes: 124 (96.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:00<01:42, 4.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=129--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 129 + INFO | >> # successes: 125 (96.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:06<01:44, 4.97s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=130--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 130 + INFO | >> # successes: 126 (96.9%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [02:10<01:33, 4.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=131--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 131 + INFO | >> # successes: 127 (96.9%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [02:14<01:26, 4.54s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=132--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 132 + INFO | >> # successes: 128 (97.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [02:18<01:20, 4.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=133--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 133 + INFO | >> # successes: 129 (97.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [02:23<01:15, 4.45s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=134--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 134 + INFO | >> # successes: 130 (97.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [02:27<01:09, 4.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=135--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 135 + INFO | >> # successes: 131 (97.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [02:31<01:05, 4.35s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=136--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 136 + INFO | >> # successes: 132 (97.1%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [02:35<00:59, 4.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=137--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 137 + INFO | >> # successes: 133 (97.1%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [02:40<00:56, 4.35s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=138--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:01:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 138 + INFO | >> # successes: 134 (97.1%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [02:44<00:52, 4.37s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=139--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 139 + INFO | >> # successes: 135 (97.1%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [02:50<00:52, 4.75s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=140--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 140 + INFO | >> # successes: 136 (97.1%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [02:55<00:47, 4.75s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=141--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 141 + INFO | >> # successes: 137 (97.2%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [02:59<00:40, 4.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=142--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 142 + INFO | >> # successes: 138 (97.2%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [03:03<00:35, 4.48s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=143--success=False--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:26] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 143 + INFO | >> # successes: 138 (96.5%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [03:14<00:44, 6.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=144--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 144 + INFO | >> # successes: 139 (96.5%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [03:18<00:34, 5.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=145--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 145 + INFO | >> # successes: 140 (96.6%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [03:22<00:26, 5.23s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=146--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 146 + INFO | >> # successes: 141 (96.6%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [03:26<00:19, 4.82s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=147--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 147 + INFO | >> # successes: 142 (96.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [03:31<00:14, 4.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=148--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 148 + INFO | >> # successes: 143 (96.6%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [03:34<00:08, 4.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=149--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 149 + INFO | >> # successes: 144 (96.6%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [03:39<00:04, 4.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=150--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +08/28 [11:02:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 150 + INFO | >> # successes: 145 (96.7%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [03:43<00:00, 4.37s/it] 100%|██████████| 50/50 [03:43<00:00, 4.47s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9666666666666667 + 30%|███ | 3/10 [12:54<28:45, 246.51s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=151--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:03:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 151 + INFO | >> # successes: 146 (96.7%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:38, 6.90s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=152--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:03:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 152 + INFO | >> # successes: 147 (96.7%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:52, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=153--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:03:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 153 + INFO | >> # successes: 148 (96.7%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:21<05:43, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=154--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:03:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 154 + INFO | >> # successes: 149 (96.8%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:28<05:24, 7.06s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=155--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:03:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 155 + INFO | >> # successes: 150 (96.8%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:35<05:16, 7.03s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=156--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:03:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 156 + INFO | >> # successes: 151 (96.8%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:42<05:06, 6.97s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=157--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:03:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 157 + INFO | >> # successes: 152 (96.8%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:49<04:58, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=158--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:03:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 158 + INFO | >> # successes: 153 (96.8%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:55<04:47, 6.84s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=159--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:04:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 159 + INFO | >> # successes: 154 (96.9%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:03<04:46, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=160--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:04:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 160 + INFO | >> # successes: 155 (96.9%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:11<04:55, 7.38s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=161--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:04:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 161 + INFO | >> # successes: 156 (96.9%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:20<05:02, 7.77s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=162--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:04:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 162 + INFO | >> # successes: 157 (96.9%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:28<05:01, 7.95s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=163--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:04:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 163 + INFO | >> # successes: 158 (96.9%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:35<04:49, 7.81s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=164--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:04:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 164 + INFO | >> # successes: 159 (97.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:43<04:34, 7.61s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=165--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:04:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 165 + INFO | >> # successes: 160 (97.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:49<04:15, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=166--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:04:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 166 + INFO | >> # successes: 161 (97.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:56<04:08, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=167--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:05:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 167 + INFO | >> # successes: 162 (97.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:04<04:00, 7.28s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=168--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:05:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 168 + INFO | >> # successes: 163 (97.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:11<03:52, 7.27s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=169--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:05:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 169 + INFO | >> # successes: 164 (97.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:20<03:59, 7.71s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=170--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:05:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 170 + INFO | >> # successes: 165 (97.1%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:27<03:43, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=171--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:05:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 171 + INFO | >> # successes: 166 (97.1%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:35<03:43, 7.71s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=172--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:05:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 172 + INFO | >> # successes: 167 (97.1%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:42<03:28, 7.46s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=173--success=False--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:05:52] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 173 + INFO | >> # successes: 167 (96.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:55<04:06, 9.13s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=174--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:05:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 174 + INFO | >> # successes: 168 (96.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:02<03:40, 8.46s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=175--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:06:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 175 + INFO | >> # successes: 169 (96.6%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:15<04:10, 10.01s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=176--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:06:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 176 + INFO | >> # successes: 170 (96.6%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:23<03:46, 9.44s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=177--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:06:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 177 + INFO | >> # successes: 171 (96.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:32<03:34, 9.32s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=178--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:06:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 178 + INFO | >> # successes: 172 (96.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:39<03:07, 8.52s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=179--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:06:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 179 + INFO | >> # successes: 173 (96.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:46<02:49, 8.07s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=180--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:06:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 180 + INFO | >> # successes: 174 (96.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:54<02:41, 8.07s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=181--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:06:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 181 + INFO | >> # successes: 175 (96.7%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:01<02:28, 7.81s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=182--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:07:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 182 + INFO | >> # successes: 176 (96.7%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:09<02:16, 7.61s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=183--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:07:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 183 + INFO | >> # successes: 177 (96.7%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:16<02:07, 7.47s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=184--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:07:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 184 + INFO | >> # successes: 178 (96.7%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:23<01:57, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=185--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:07:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 185 + INFO | >> # successes: 179 (96.8%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:32<01:57, 7.84s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=186--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:07:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 186 + INFO | >> # successes: 180 (96.8%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:40<01:52, 8.05s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=187--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:07:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 187 + INFO | >> # successes: 181 (96.8%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:50<01:49, 8.42s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=188--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:07:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 188 + INFO | >> # successes: 182 (96.8%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:57<01:36, 8.00s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=189--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:08:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 189 + INFO | >> # successes: 183 (96.8%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [05:04<01:24, 7.71s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=190--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:08:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 190 + INFO | >> # successes: 184 (96.8%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [05:14<01:24, 8.42s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=191--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:08:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 191 + INFO | >> # successes: 185 (96.9%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [05:21<01:13, 8.13s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=192--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:08:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 192 + INFO | >> # successes: 186 (96.9%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:28<01:03, 7.88s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=193--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:08:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 193 + INFO | >> # successes: 187 (96.9%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:37<00:55, 7.98s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=194--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:08:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 194 + INFO | >> # successes: 188 (96.9%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:44<00:46, 7.75s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=195--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:08:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 195 + INFO | >> # successes: 189 (96.9%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:51<00:37, 7.57s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=196--success=False--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:08:58] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 196 + INFO | >> # successes: 189 (96.4%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [06:01<00:33, 8.37s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=197--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:09:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 197 + INFO | >> # successes: 190 (96.4%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [06:08<00:23, 7.88s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=198--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:09:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 198 + INFO | >> # successes: 191 (96.5%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [06:15<00:15, 7.62s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=199--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:09:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 199 + INFO | >> # successes: 192 (96.5%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [06:25<00:08, 8.46s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=200--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +08/28 [11:09:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 200 + INFO | >> # successes: 193 (96.5%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:33<00:00, 8.08s/it] 100%|██████████| 50/50 [06:33<00:00, 7.86s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.965 + 40%|████ | 4/10 [19:28<30:28, 304.75s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=201--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:09:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 201 + INFO | >> # successes: 194 (96.5%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:04<03:30, 4.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=202--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:09:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 202 + INFO | >> # successes: 195 (96.5%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:08<03:20, 4.18s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=203--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:09:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 203 + INFO | >> # successes: 196 (96.6%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:13<03:31, 4.50s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=204--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:09:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 204 + INFO | >> # successes: 197 (96.6%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:17<03:24, 4.46s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=205--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:09:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 205 + INFO | >> # successes: 198 (96.6%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:21<03:12, 4.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=206--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:09:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 206 + INFO | >> # successes: 199 (96.6%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:25<03:02, 4.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=207--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 207 + INFO | >> # successes: 200 (96.6%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:29<03:00, 4.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=208--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 208 + INFO | >> # successes: 201 (96.6%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:34<02:58, 4.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=209--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 209 + INFO | >> # successes: 202 (96.7%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:38<02:51, 4.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=210--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 210 + INFO | >> # successes: 203 (96.7%) run_libero_eval.py:226 + + 20%|██ | 10/50 [00:42<02:47, 4.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=211--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 211 + INFO | >> # successes: 204 (96.7%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [00:46<02:45, 4.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=212--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 212 + INFO | >> # successes: 205 (96.7%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [00:51<02:44, 4.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=213--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 213 + INFO | >> # successes: 206 (96.7%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [00:55<02:36, 4.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=214--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 214 + INFO | >> # successes: 207 (96.7%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [00:59<02:30, 4.18s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=215--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 215 + INFO | >> # successes: 208 (96.7%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:03<02:29, 4.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=216--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 216 + INFO | >> # successes: 209 (96.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:07<02:22, 4.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=217--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 217 + INFO | >> # successes: 210 (96.8%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:12<02:18, 4.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=218--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 218 + INFO | >> # successes: 211 (96.8%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:16<02:16, 4.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=219--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 219 + INFO | >> # successes: 212 (96.8%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:20<02:12, 4.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=220--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 220 + INFO | >> # successes: 213 (96.8%) run_libero_eval.py:226 + + 40%|████ | 20/50 [01:24<02:06, 4.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=221--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:10:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 221 + INFO | >> # successes: 214 (96.8%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [01:29<02:01, 4.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=222--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 222 + INFO | >> # successes: 215 (96.8%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [01:34<02:04, 4.45s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=223--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 223 + INFO | >> # successes: 216 (96.9%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [01:38<01:59, 4.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=224--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 224 + INFO | >> # successes: 217 (96.9%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [01:42<01:53, 4.35s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=225--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 225 + INFO | >> # successes: 218 (96.9%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [01:46<01:47, 4.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=226--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 226 + INFO | >> # successes: 219 (96.9%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [01:51<01:42, 4.28s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=227--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 227 + INFO | >> # successes: 220 (96.9%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [01:55<01:37, 4.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=228--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 228 + INFO | >> # successes: 221 (96.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [01:59<01:33, 4.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=229--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 229 + INFO | >> # successes: 222 (96.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:04<01:30, 4.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=230--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 230 + INFO | >> # successes: 223 (97.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [02:08<01:26, 4.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=231--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 231 + INFO | >> # successes: 224 (97.0%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [02:13<01:27, 4.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=232--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 232 + INFO | >> # successes: 225 (97.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [02:18<01:26, 4.80s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=233--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 233 + INFO | >> # successes: 226 (97.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [02:23<01:18, 4.62s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=234--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:11:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 234 + INFO | >> # successes: 227 (97.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [02:28<01:19, 4.94s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=235--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 235 + INFO | >> # successes: 228 (97.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [02:36<01:27, 5.83s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=236--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 236 + INFO | >> # successes: 229 (97.0%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [02:40<01:14, 5.36s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=237--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 237 + INFO | >> # successes: 230 (97.0%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [02:48<01:19, 6.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=238--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 238 + INFO | >> # successes: 231 (97.1%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [02:53<01:07, 5.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=239--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 239 + INFO | >> # successes: 232 (97.1%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [02:59<01:03, 5.76s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=240--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 240 + INFO | >> # successes: 233 (97.1%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [03:04<00:55, 5.57s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=241--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 241 + INFO | >> # successes: 234 (97.1%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [03:08<00:46, 5.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=242--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 242 + INFO | >> # successes: 235 (97.1%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [03:12<00:39, 4.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=243--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 243 + INFO | >> # successes: 236 (97.1%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [03:16<00:32, 4.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=244--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 244 + INFO | >> # successes: 237 (97.1%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [03:20<00:26, 4.45s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=245--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:12:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 245 + INFO | >> # successes: 238 (97.1%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [03:25<00:21, 4.36s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=246--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:13:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 246 + INFO | >> # successes: 239 (97.2%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [03:29<00:17, 4.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=247--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:13:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 247 + INFO | >> # successes: 240 (97.2%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [03:33<00:12, 4.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=248--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:13:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 248 + INFO | >> # successes: 241 (97.2%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [03:40<00:10, 5.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=249--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:13:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 249 + INFO | >> # successes: 242 (97.2%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [03:45<00:05, 5.02s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=250--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +08/28 [11:13:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 250 + INFO | >> # successes: 243 (97.2%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [03:49<00:00, 4.83s/it] 100%|██████████| 50/50 [03:49<00:00, 4.60s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.972 + 50%|█████ | 5/10 [23:19<23:10, 278.06s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=251--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:13:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 251 + INFO | >> # successes: 244 (97.2%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:05<04:52, 5.98s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=252--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:13:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 252 + INFO | >> # successes: 245 (97.2%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:13<05:36, 7.01s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=253--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:13:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 253 + INFO | >> # successes: 246 (97.2%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:19<05:13, 6.67s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=254--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:13:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 254 + INFO | >> # successes: 247 (97.2%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:28<05:31, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=255--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:13:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 255 + INFO | >> # successes: 248 (97.3%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:35<05:30, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=256--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:14:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 256 + INFO | >> # successes: 249 (97.3%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:40<04:53, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=257--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:14:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 257 + INFO | >> # successes: 250 (97.3%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:47<04:38, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=258--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:14:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 258 + INFO | >> # successes: 251 (97.3%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:53<04:26, 6.35s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=259--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:14:27] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 259 + INFO | >> # successes: 251 (96.9%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:05<05:39, 8.27s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=260--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:14:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 260 + INFO | >> # successes: 252 (96.9%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:11<05:06, 7.67s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=261--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:14:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 261 + INFO | >> # successes: 253 (96.9%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:18<04:40, 7.18s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=262--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:14:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 262 + INFO | >> # successes: 254 (96.9%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:24<04:30, 7.11s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=263--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:14:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 263 + INFO | >> # successes: 255 (97.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:30<04:11, 6.79s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=264--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:14:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 264 + INFO | >> # successes: 256 (97.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:37<03:57, 6.60s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=265--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:15:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 265 + INFO | >> # successes: 257 (97.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:43<03:44, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=266--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:15:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 266 + INFO | >> # successes: 258 (97.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:49<03:36, 6.36s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=267--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:15:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 267 + INFO | >> # successes: 259 (97.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:55<03:24, 6.21s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=268--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:15:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 268 + INFO | >> # successes: 260 (97.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:01<03:16, 6.14s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=269--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:15:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 269 + INFO | >> # successes: 261 (97.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:07<03:07, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=270--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:15:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 270 + INFO | >> # successes: 262 (97.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:13<03:01, 6.04s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=271--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:15:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 271 + INFO | >> # successes: 263 (97.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:18<02:53, 5.98s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=272--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:15:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 272 + INFO | >> # successes: 264 (97.1%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:24<02:47, 5.96s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=273--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:15:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 273 + INFO | >> # successes: 265 (97.1%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:30<02:41, 6.00s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=274--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:16:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 274 + INFO | >> # successes: 266 (97.1%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:39<02:53, 6.67s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=275--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:16:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 275 + INFO | >> # successes: 267 (97.1%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:45<02:41, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=276--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:16:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 276 + INFO | >> # successes: 268 (97.1%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:52<02:39, 6.64s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=277--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:16:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 277 + INFO | >> # successes: 269 (97.1%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:59<02:36, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=278--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:16:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 278 + INFO | >> # successes: 270 (97.1%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:06<02:29, 6.79s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=279--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:16:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 279 + INFO | >> # successes: 271 (97.1%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:11<02:11, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=280--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:16:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 280 + INFO | >> # successes: 272 (97.1%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:16<02:00, 6.03s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=281--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:16:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 281 + INFO | >> # successes: 273 (97.2%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:22<01:53, 6.00s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=282--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:16:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 282 + INFO | >> # successes: 274 (97.2%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:31<02:06, 7.01s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=283--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:16:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 283 + INFO | >> # successes: 275 (97.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:38<01:55, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=284--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:17:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 284 + INFO | >> # successes: 276 (97.2%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:44<01:46, 6.65s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=285--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:17:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 285 + INFO | >> # successes: 277 (97.2%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:50<01:37, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=286--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:17:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 286 + INFO | >> # successes: 278 (97.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:56<01:28, 6.30s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=287--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:17:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 287 + INFO | >> # successes: 279 (97.2%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:02<01:20, 6.18s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=288--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:17:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 288 + INFO | >> # successes: 280 (97.2%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:08<01:11, 5.99s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=289--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:17:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 289 + INFO | >> # successes: 281 (97.2%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:14<01:06, 6.00s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=290--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:17:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 290 + INFO | >> # successes: 282 (97.2%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:19<00:58, 5.88s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=291--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:17:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 291 + INFO | >> # successes: 283 (97.3%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:25<00:51, 5.75s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=292--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:17:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 292 + INFO | >> # successes: 284 (97.3%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:30<00:46, 5.78s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=293--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:17:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 293 + INFO | >> # successes: 285 (97.3%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:36<00:40, 5.80s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=294--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:18:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 294 + INFO | >> # successes: 286 (97.3%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:43<00:36, 6.02s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=295--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:18:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 295 + INFO | >> # successes: 287 (97.3%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:49<00:30, 6.10s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=296--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:18:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 296 + INFO | >> # successes: 288 (97.3%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:56<00:25, 6.44s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=297--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:18:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 297 + INFO | >> # successes: 289 (97.3%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:02<00:19, 6.34s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=298--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:18:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 298 + INFO | >> # successes: 290 (97.3%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:09<00:12, 6.43s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=299--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:18:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 299 + INFO | >> # successes: 291 (97.3%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:16<00:06, 6.43s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=300--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +08/28 [11:18:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 300 + INFO | >> # successes: 292 (97.3%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:21<00:00, 6.22s/it] 100%|██████████| 50/50 [05:21<00:00, 6.43s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9733333333333334 + 60%|██████ | 6/10 [28:41<19:32, 293.25s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=301--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:18:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 301 + INFO | >> # successes: 293 (97.3%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:04<03:27, 4.23s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=302--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:18:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 302 + INFO | >> # successes: 294 (97.4%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:08<03:25, 4.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=303--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:18:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 303 + INFO | >> # successes: 295 (97.4%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:13<03:27, 4.41s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=304--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 304 + INFO | >> # successes: 296 (97.4%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:17<03:16, 4.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=305--success=False--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:12] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 305 + INFO | >> # successes: 296 (97.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:27<04:55, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=306--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 306 + INFO | >> # successes: 297 (97.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:31<04:12, 5.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=307--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 307 + INFO | >> # successes: 298 (97.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:35<03:41, 5.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=308--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 308 + INFO | >> # successes: 299 (97.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:40<03:27, 4.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=309--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 309 + INFO | >> # successes: 300 (97.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:45<03:28, 5.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=310--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 310 + INFO | >> # successes: 301 (97.1%) run_libero_eval.py:226 + + 20%|██ | 10/50 [00:51<03:26, 5.16s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=311--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 311 + INFO | >> # successes: 302 (97.1%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [00:55<03:07, 4.82s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=312--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 312 + INFO | >> # successes: 303 (97.1%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [00:59<02:54, 4.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=313--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 313 + INFO | >> # successes: 304 (97.1%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:03<02:47, 4.54s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=314--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 314 + INFO | >> # successes: 305 (97.1%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:08<02:42, 4.53s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=315--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:19:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 315 + INFO | >> # successes: 306 (97.1%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:13<02:51, 4.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=316--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 316 + INFO | >> # successes: 307 (97.2%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:18<02:39, 4.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=317--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 317 + INFO | >> # successes: 308 (97.2%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:23<02:36, 4.76s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=318--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 318 + INFO | >> # successes: 309 (97.2%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:27<02:29, 4.66s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=319--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 319 + INFO | >> # successes: 310 (97.2%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:32<02:31, 4.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=320--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 320 + INFO | >> # successes: 311 (97.2%) run_libero_eval.py:226 + + 40%|████ | 20/50 [01:36<02:17, 4.58s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=321--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 321 + INFO | >> # successes: 312 (97.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [01:44<02:37, 5.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=322--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 322 + INFO | >> # successes: 313 (97.2%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [01:48<02:23, 5.11s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=323--success=False--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:43] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 323 + INFO | >> # successes: 313 (96.9%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [01:59<03:04, 6.84s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=324--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 324 + INFO | >> # successes: 314 (96.9%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:04<02:42, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=325--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 325 + INFO | >> # successes: 315 (96.9%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:08<02:24, 5.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=326--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:20:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 326 + INFO | >> # successes: 316 (96.9%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:13<02:08, 5.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=327--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 327 + INFO | >> # successes: 317 (96.9%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:19<02:11, 5.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=328--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 328 + INFO | >> # successes: 318 (97.0%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:24<01:56, 5.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=329--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 329 + INFO | >> # successes: 319 (97.0%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:28<01:46, 5.06s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=330--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 330 + INFO | >> # successes: 320 (97.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [02:32<01:35, 4.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=331--success=False--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:27] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 331 + INFO | >> # successes: 320 (96.7%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [02:43<02:04, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=332--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 332 + INFO | >> # successes: 321 (96.7%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [02:50<01:58, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=333--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 333 + INFO | >> # successes: 322 (96.7%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [02:54<01:40, 5.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=334--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 334 + INFO | >> # successes: 323 (96.7%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [02:58<01:25, 5.37s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=335--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 335 + INFO | >> # successes: 324 (96.7%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:02<01:16, 5.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=336--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 336 + INFO | >> # successes: 325 (96.7%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:07<01:07, 4.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=337--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:21:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 337 + INFO | >> # successes: 326 (96.7%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:11<01:00, 4.69s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=338--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 338 + INFO | >> # successes: 327 (96.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [03:15<00:55, 4.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=339--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 339 + INFO | >> # successes: 328 (96.8%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [03:20<00:49, 4.50s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=340--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 340 + INFO | >> # successes: 329 (96.8%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [03:24<00:43, 4.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=341--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 341 + INFO | >> # successes: 330 (96.8%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [03:30<00:43, 4.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=342--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 342 + INFO | >> # successes: 331 (96.8%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [03:35<00:39, 4.99s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=343--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 343 + INFO | >> # successes: 332 (96.8%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [03:40<00:34, 4.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=344--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 344 + INFO | >> # successes: 333 (96.8%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [03:47<00:33, 5.62s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=345--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 345 + INFO | >> # successes: 334 (96.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [03:51<00:26, 5.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=346--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 346 + INFO | >> # successes: 335 (96.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [03:56<00:19, 4.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=347--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 347 + INFO | >> # successes: 336 (96.8%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:00<00:14, 4.84s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=348--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 348 + INFO | >> # successes: 337 (96.8%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [04:04<00:09, 4.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=349--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 349 + INFO | >> # successes: 338 (96.8%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [04:08<00:04, 4.47s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=350--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +08/28 [11:22:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 350 + INFO | >> # successes: 339 (96.9%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [04:13<00:00, 4.46s/it] 100%|██████████| 50/50 [04:13<00:00, 5.07s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.94 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9685714285714285 + 70%|███████ | 7/10 [32:56<14:01, 280.55s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=351--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 351 + INFO | >> # successes: 340 (96.9%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:03<03:12, 3.93s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=352--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 352 + INFO | >> # successes: 341 (96.9%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:07<03:05, 3.87s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=353--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 353 + INFO | >> # successes: 342 (96.9%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:11<03:04, 3.93s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=354--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 354 + INFO | >> # successes: 343 (96.9%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:15<02:52, 3.76s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=355--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 355 + INFO | >> # successes: 344 (96.9%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:18<02:48, 3.74s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=356--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 356 + INFO | >> # successes: 345 (96.9%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:22<02:46, 3.78s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=357--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 357 + INFO | >> # successes: 346 (96.9%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:26<02:37, 3.66s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=358--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 358 + INFO | >> # successes: 347 (96.9%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:29<02:33, 3.65s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=359--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 359 + INFO | >> # successes: 348 (96.9%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:33<02:28, 3.62s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=360--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 360 + INFO | >> # successes: 349 (96.9%) run_libero_eval.py:226 + + 20%|██ | 10/50 [00:38<02:39, 3.99s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=361--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 361 + INFO | >> # successes: 350 (97.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [00:45<03:20, 5.13s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=362--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 362 + INFO | >> # successes: 351 (97.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [00:50<03:05, 4.88s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=363--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 363 + INFO | >> # successes: 352 (97.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [00:53<02:44, 4.45s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=364--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 364 + INFO | >> # successes: 353 (97.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [00:57<02:30, 4.18s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=365--success=True--task=turn_on_the_stove.mp4 +08/28 [11:23:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 365 + INFO | >> # successes: 354 (97.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:00<02:21, 4.04s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=366--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 366 + INFO | >> # successes: 355 (97.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:04<02:12, 3.89s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=367--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 367 + INFO | >> # successes: 356 (97.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:08<02:10, 3.94s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=368--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 368 + INFO | >> # successes: 357 (97.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:12<02:02, 3.83s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=369--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 369 + INFO | >> # successes: 358 (97.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:15<01:56, 3.76s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=370--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 370 + INFO | >> # successes: 359 (97.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [01:19<01:54, 3.83s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=371--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 371 + INFO | >> # successes: 360 (97.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [01:23<01:48, 3.74s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=372--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 372 + INFO | >> # successes: 361 (97.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [01:26<01:44, 3.73s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=373--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 373 + INFO | >> # successes: 362 (97.1%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [01:30<01:39, 3.68s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=374--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 374 + INFO | >> # successes: 363 (97.1%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [01:34<01:33, 3.61s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=375--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 375 + INFO | >> # successes: 364 (97.1%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [01:37<01:31, 3.67s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=376--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 376 + INFO | >> # successes: 365 (97.1%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [01:41<01:29, 3.73s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=377--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 377 + INFO | >> # successes: 366 (97.1%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [01:45<01:24, 3.69s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=378--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 378 + INFO | >> # successes: 367 (97.1%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [01:49<01:21, 3.72s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=379--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 379 + INFO | >> # successes: 368 (97.1%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [01:52<01:18, 3.72s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=380--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 380 + INFO | >> # successes: 369 (97.1%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [01:56<01:14, 3.71s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=381--success=True--task=turn_on_the_stove.mp4 +08/28 [11:24:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 381 + INFO | >> # successes: 370 (97.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [01:59<01:09, 3.64s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=382--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 382 + INFO | >> # successes: 371 (97.1%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [02:05<01:13, 4.07s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=383--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 383 + INFO | >> # successes: 372 (97.1%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [02:09<01:09, 4.06s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=384--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 384 + INFO | >> # successes: 373 (97.1%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [02:12<01:02, 3.92s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=385--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 385 + INFO | >> # successes: 374 (97.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [02:16<00:56, 3.75s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=386--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 386 + INFO | >> # successes: 375 (97.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [02:19<00:51, 3.71s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=387--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 387 + INFO | >> # successes: 376 (97.2%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [02:23<00:48, 3.75s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=388--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 388 + INFO | >> # successes: 377 (97.2%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [02:27<00:44, 3.70s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=389--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 389 + INFO | >> # successes: 378 (97.2%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [02:30<00:40, 3.68s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=390--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 390 + INFO | >> # successes: 379 (97.2%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [02:35<00:40, 4.04s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=391--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 391 + INFO | >> # successes: 380 (97.2%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [02:39<00:35, 3.99s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=392--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 392 + INFO | >> # successes: 381 (97.2%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [02:43<00:31, 3.90s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=393--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 393 + INFO | >> # successes: 382 (97.2%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [02:49<00:32, 4.58s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=394--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 394 + INFO | >> # successes: 383 (97.2%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [02:53<00:26, 4.35s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=395--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 395 + INFO | >> # successes: 384 (97.2%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [02:56<00:20, 4.17s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=396--success=True--task=turn_on_the_stove.mp4 +08/28 [11:25:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 396 + INFO | >> # successes: 385 (97.2%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [03:00<00:15, 3.96s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=397--success=True--task=turn_on_the_stove.mp4 +08/28 [11:26:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 397 + INFO | >> # successes: 386 (97.2%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [03:04<00:11, 3.94s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=398--success=True--task=turn_on_the_stove.mp4 +08/28 [11:26:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 398 + INFO | >> # successes: 387 (97.2%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [03:08<00:08, 4.17s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=399--success=True--task=turn_on_the_stove.mp4 +08/28 [11:26:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 399 + INFO | >> # successes: 388 (97.2%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [03:12<00:03, 4.00s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=400--success=True--task=turn_on_the_stove.mp4 +08/28 [11:26:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 400 + INFO | >> # successes: 389 (97.2%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [03:16<00:00, 3.90s/it] 100%|██████████| 50/50 [03:16<00:00, 3.92s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9725 + 80%|████████ | 8/10 [36:13<08:28, 254.02s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=401--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 401 + INFO | >> # successes: 390 (97.3%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:03<03:01, 3.71s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=402--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 402 + INFO | >> # successes: 391 (97.3%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:07<03:06, 3.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=403--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 403 + INFO | >> # successes: 392 (97.3%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:12<03:30, 4.48s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=404--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 404 + INFO | >> # successes: 393 (97.3%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:16<03:12, 4.18s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=405--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 405 + INFO | >> # successes: 394 (97.3%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:20<03:02, 4.07s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=406--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 406 + INFO | >> # successes: 395 (97.3%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:24<02:52, 3.93s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=407--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 407 + INFO | >> # successes: 396 (97.3%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:27<02:44, 3.83s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=408--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 408 + INFO | >> # successes: 397 (97.3%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:31<02:38, 3.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=409--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 409 + INFO | >> # successes: 398 (97.3%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:35<02:33, 3.75s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=410--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 410 + INFO | >> # successes: 399 (97.3%) run_libero_eval.py:226 + + 20%|██ | 10/50 [00:38<02:30, 3.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=411--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:26:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 411 + INFO | >> # successes: 400 (97.3%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [00:43<02:31, 3.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=412--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 412 + INFO | >> # successes: 401 (97.3%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [00:47<02:29, 3.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=413--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 413 + INFO | >> # successes: 402 (97.3%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [00:51<02:24, 3.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=414--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 414 + INFO | >> # successes: 403 (97.3%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [00:54<02:20, 3.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=415--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 415 + INFO | >> # successes: 404 (97.3%) run_libero_eval.py:226 + + 30%|███ | 15/50 [00:59<02:27, 4.22s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=416--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 416 + INFO | >> # successes: 405 (97.4%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:03<02:20, 4.13s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=417--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 417 + INFO | >> # successes: 406 (97.4%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:07<02:15, 4.11s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=418--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 418 + INFO | >> # successes: 407 (97.4%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:12<02:12, 4.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=419--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 419 + INFO | >> # successes: 408 (97.4%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:15<02:04, 4.02s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=420--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 420 + INFO | >> # successes: 409 (97.4%) run_libero_eval.py:226 + + 40%|████ | 20/50 [01:19<01:58, 3.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=421--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 421 + INFO | >> # successes: 410 (97.4%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [01:23<01:51, 3.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=422--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 422 + INFO | >> # successes: 411 (97.4%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [01:27<01:48, 3.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=423--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 423 + INFO | >> # successes: 412 (97.4%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [01:30<01:42, 3.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=424--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 424 + INFO | >> # successes: 413 (97.4%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [01:34<01:38, 3.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=425--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 425 + INFO | >> # successes: 414 (97.4%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [01:38<01:34, 3.80s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=426--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:27:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 426 + INFO | >> # successes: 415 (97.4%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [01:41<01:28, 3.71s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=427--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 427 + INFO | >> # successes: 416 (97.4%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [01:45<01:26, 3.76s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=428--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 428 + INFO | >> # successes: 417 (97.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [01:49<01:24, 3.84s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=429--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 429 + INFO | >> # successes: 418 (97.4%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [01:53<01:19, 3.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=430--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 430 + INFO | >> # successes: 419 (97.4%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [01:57<01:17, 3.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=431--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 431 + INFO | >> # successes: 420 (97.4%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [02:01<01:12, 3.80s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=432--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 432 + INFO | >> # successes: 421 (97.5%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [02:04<01:08, 3.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=433--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 433 + INFO | >> # successes: 422 (97.5%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [02:08<01:03, 3.73s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=434--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 434 + INFO | >> # successes: 423 (97.5%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [02:12<01:00, 3.79s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=435--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 435 + INFO | >> # successes: 424 (97.5%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [02:16<00:58, 3.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=436--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 436 + INFO | >> # successes: 425 (97.5%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [02:20<00:53, 3.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=437--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 437 + INFO | >> # successes: 426 (97.5%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [02:24<00:53, 4.10s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=438--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 438 + INFO | >> # successes: 427 (97.5%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [02:28<00:48, 4.04s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=439--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 439 + INFO | >> # successes: 428 (97.5%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [02:32<00:42, 3.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=440--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 440 + INFO | >> # successes: 429 (97.5%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [02:36<00:39, 3.93s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=441--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 441 + INFO | >> # successes: 430 (97.5%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [02:40<00:35, 3.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=442--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:28:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 442 + INFO | >> # successes: 431 (97.5%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [02:43<00:30, 3.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=443--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:29:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 443 + INFO | >> # successes: 432 (97.5%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [02:47<00:27, 3.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=444--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:29:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 444 + INFO | >> # successes: 433 (97.5%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [02:51<00:23, 3.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=445--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:29:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 445 + INFO | >> # successes: 434 (97.5%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [02:55<00:18, 3.79s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=446--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:29:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 446 + INFO | >> # successes: 435 (97.5%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [02:59<00:15, 3.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=447--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:29:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 447 + INFO | >> # successes: 436 (97.5%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [03:03<00:11, 3.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=448--success=False--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:29:30] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 448 + INFO | >> # successes: 436 (97.3%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [03:14<00:12, 6.01s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=449--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:29:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 449 + INFO | >> # successes: 437 (97.3%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [03:18<00:05, 5.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=450--success=True--task=put_the_bowl_on_the_plate.mp4 +08/28 [11:29:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 450 + INFO | >> # successes: 438 (97.3%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [03:21<00:00, 4.90s/it] 100%|██████████| 50/50 [03:21<00:00, 4.04s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9733333333333334 + 90%|█████████ | 9/10 [39:36<03:58, 238.04s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=451--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:29:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 451 + INFO | >> # successes: 439 (97.3%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:05<04:10, 5.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=452--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:29:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 452 + INFO | >> # successes: 440 (97.3%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:10<04:03, 5.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=453--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:29:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 453 + INFO | >> # successes: 441 (97.4%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:15<04:10, 5.32s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=454--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 454 + INFO | >> # successes: 442 (97.4%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:21<04:09, 5.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=455--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 455 + INFO | >> # successes: 443 (97.4%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:26<04:04, 5.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=456--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 456 + INFO | >> # successes: 444 (97.4%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:32<03:59, 5.44s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=457--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 457 + INFO | >> # successes: 445 (97.4%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:37<03:58, 5.54s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=458--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 458 + INFO | >> # successes: 446 (97.4%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:43<03:46, 5.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=459--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 459 + INFO | >> # successes: 447 (97.4%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:48<03:44, 5.48s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=460--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 460 + INFO | >> # successes: 448 (97.4%) run_libero_eval.py:226 + + 20%|██ | 10/50 [00:53<03:32, 5.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=461--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 461 + INFO | >> # successes: 449 (97.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [00:59<03:29, 5.37s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=462--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 462 + INFO | >> # successes: 450 (97.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:05<03:40, 5.80s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=463--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 463 + INFO | >> # successes: 451 (97.4%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:11<03:26, 5.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=464--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:30:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 464 + INFO | >> # successes: 452 (97.4%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:16<03:17, 5.47s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=465--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:31:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 465 + INFO | >> # successes: 453 (97.4%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:21<03:11, 5.48s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=466--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:31:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 466 + INFO | >> # successes: 454 (97.4%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:26<03:02, 5.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=467--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:31:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 467 + INFO | >> # successes: 455 (97.4%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:32<02:56, 5.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=468--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:31:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 468 + INFO | >> # successes: 456 (97.4%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:38<03:02, 5.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=469--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:31:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 469 + INFO | >> # successes: 457 (97.4%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:43<02:52, 5.56s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=470--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:31:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 470 + INFO | >> # successes: 458 (97.4%) run_libero_eval.py:226 + + 40%|████ | 20/50 [01:49<02:47, 5.58s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=471--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:31:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 471 + INFO | >> # successes: 459 (97.5%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [01:54<02:38, 5.45s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=472--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:31:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 472 + INFO | >> # successes: 460 (97.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:08<03:39, 7.83s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=473--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:31:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 473 + INFO | >> # successes: 461 (97.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:17<03:41, 8.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=474--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:32:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 474 + INFO | >> # successes: 462 (97.5%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:22<03:12, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=475--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:32:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 475 + INFO | >> # successes: 463 (97.5%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:30<03:08, 7.53s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=476--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:32:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 476 + INFO | >> # successes: 464 (97.5%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:36<02:48, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=477--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:32:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 477 + INFO | >> # successes: 465 (97.5%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:43<02:43, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=478--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:32:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 478 + INFO | >> # successes: 466 (97.5%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:49<02:24, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=479--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:32:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 479 + INFO | >> # successes: 467 (97.5%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:55<02:14, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=480--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:32:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 480 + INFO | >> # successes: 468 (97.5%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:00<02:03, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=481--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:32:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 481 + INFO | >> # successes: 469 (97.5%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:06<01:52, 5.94s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=482--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:32:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 482 + INFO | >> # successes: 470 (97.5%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:12<01:49, 6.07s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=483--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:32:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 483 + INFO | >> # successes: 471 (97.5%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:17<01:39, 5.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=484--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 484 + INFO | >> # successes: 472 (97.5%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:23<01:30, 5.69s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=485--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 485 + INFO | >> # successes: 473 (97.5%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:28<01:22, 5.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=486--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 486 + INFO | >> # successes: 474 (97.5%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:33<01:15, 5.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=487--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 487 + INFO | >> # successes: 475 (97.5%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:38<01:08, 5.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=488--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 488 + INFO | >> # successes: 476 (97.5%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [03:43<01:03, 5.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=489--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 489 + INFO | >> # successes: 477 (97.5%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [03:48<00:57, 5.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=490--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 490 + INFO | >> # successes: 478 (97.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [03:54<00:52, 5.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=491--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 491 + INFO | >> # successes: 479 (97.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [03:59<00:48, 5.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=492--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 492 + INFO | >> # successes: 480 (97.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:04<00:41, 5.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=493--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 493 + INFO | >> # successes: 481 (97.6%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:10<00:37, 5.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=494--success=False--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:33:59] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 494 + INFO | >> # successes: 481 (97.4%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:20<00:41, 6.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=495--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:34:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 495 + INFO | >> # successes: 482 (97.4%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:26<00:32, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=496--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:34:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 496 + INFO | >> # successes: 483 (97.4%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:32<00:25, 6.50s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=497--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:34:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 497 + INFO | >> # successes: 484 (97.4%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:38<00:19, 6.36s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=498--success=False--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:34:30] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 498 + INFO | >> # successes: 484 (97.2%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [04:51<00:16, 8.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=499--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:34:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 499 + INFO | >> # successes: 485 (97.2%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [04:57<00:07, 7.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_28/2025_08_28-10_49_53--episode=500--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +08/28 [11:34:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 500 + INFO | >> # successes: 486 (97.2%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:02<00:00, 6.88s/it] 100%|██████████| 50/50 [05:02<00:00, 6.06s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.972 + 100%|██████████| 10/10 [44:40<00:00, 258.34s/it] 100%|██████████| 10/10 [44:40<00:00, 268.03s/it] + INFO | >> Final results: run_libero_eval.py:226 + INFO | >> Total episodes: 500 run_libero_eval.py:226 + INFO | >> Total successes: 486 run_libero_eval.py:226 + INFO | >> Overall success rate: run_libero_eval.py:226 + 0.9720 (97.2%) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__ + self.gl_ctx.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__ + self.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) diff --git a/VLA-Adapter-UAV/eval_logs/Inference-Goal_Pro--98.2.log b/VLA-Adapter-UAV/eval_logs/Inference-Goal_Pro--98.2.log new file mode 100644 index 0000000000000000000000000000000000000000..6d6d20d1d18fb3ca3858df32b22a57bf67b9db83 --- /dev/null +++ b/VLA-Adapter-UAV/eval_logs/Inference-Goal_Pro--98.2.log @@ -0,0 +1,7021 @@ +2025-09-21 15:30:37.434089: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`. +2025-09-21 15:30:37.463050: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2025-09-21 15:30:37.463092: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2025-09-21 15:30:37.463842: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2025-09-21 15:30:37.468311: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 AVX_VNNI AMX_TILE AMX_INT8 AMX_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2025-09-21 15:30:38.011670: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +[robosuite WARNING] No private macro file found! (macros.py:53) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:54) +[robosuite WARNING] To setup, run: python /ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:55) +2025-09-21 15:30:40.842948: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2348] TensorFlow was not built with CUDA kernel binaries compatible with compute capability 9.0. CUDA kernels will be jit-compiled from PTX, which could take 30 minutes or longer. +Using LIBERO constants: + NUM_ACTIONS_CHUNK = 8 + ACTION_DIM = 7 + PROPRIO_DIM = 8 + ACTION_PROPRIO_NORMALIZATION_TYPE = bounds_q99 +If needed, manually set the correct constants in `prismatic/vla/constants.py`! +Instantiating pretrained VLA policy... + + +Loaded model: +09/21 [15:31:03] INFO | >> Logging to local log file: run_libero_eval.py:211 + ./experiments/logs/EVAL-libero_ + goal-openvla-2025_09_21-15_30_5 + 2.txt +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] + INFO | >> Task suite: libero_goal run_libero_eval.py:226 + 0%| | 0/10 [00:00> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=1--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:31:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 1 + INFO | >> # successes: 1 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<06:03, 7.41s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=2--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:31:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 2 + INFO | >> # successes: 2 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:17<07:09, 8.95s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=3--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:31:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 3 + INFO | >> # successes: 3 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:28<07:50, 10.01s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=4--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:31:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 4 + INFO | >> # successes: 4 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:44<09:29, 12.37s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=5--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:32:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 5 + INFO | >> # successes: 5 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:13<13:45, 18.34s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=6--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:32:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 6 + INFO | >> # successes: 6 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:47<17:12, 23.47s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=7--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:33:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 7 + INFO | >> # successes: 7 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [02:13<17:35, 24.55s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=8--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:33:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 8 + INFO | >> # successes: 8 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [02:21<13:19, 19.03s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=9--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:33:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 9 + INFO | >> # successes: 9 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [02:48<14:54, 21.81s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=10--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:34:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 10 + INFO | >> # successes: 10 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [03:09<14:15, 21.39s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=11--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:34:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 11 + INFO | >> # successes: 11 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [03:36<15:03, 23.18s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=12--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:35:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 12 + INFO | >> # successes: 12 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [04:00<14:44, 23.27s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=13--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:35:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 13 + INFO | >> # successes: 13 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [04:20<13:47, 22.37s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=14--success=False--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:36:24] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 14 + INFO | >> # successes: 13 (92.9%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [05:18<19:48, 33.03s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=15--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:36:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 15 + INFO | >> # successes: 14 (93.3%) run_libero_eval.py:226 + + 30%|███ | 15/50 [05:47<18:41, 32.04s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=16--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:37:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 16 + INFO | >> # successes: 15 (93.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [06:21<18:26, 32.55s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=17--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:37:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 17 + INFO | >> # successes: 16 (94.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [06:45<16:31, 30.04s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=18--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:38:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 18 + INFO | >> # successes: 17 (94.4%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [07:13<15:42, 29.45s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=19--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:38:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 19 + INFO | >> # successes: 18 (94.7%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [07:44<15:25, 29.86s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=20--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:39:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 20 + INFO | >> # successes: 19 (95.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [08:06<13:44, 27.48s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=21--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:39:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 21 + INFO | >> # successes: 20 (95.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [08:16<10:47, 22.33s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=22--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:39:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 22 + INFO | >> # successes: 21 (95.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [08:50<12:02, 25.80s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=23--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:40:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 23 + INFO | >> # successes: 22 (95.7%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [09:17<11:40, 25.95s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=24--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:40:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 24 + INFO | >> # successes: 23 (95.8%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [09:48<11:57, 27.59s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=25--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:41:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 25 + INFO | >> # successes: 24 (96.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [10:17<11:37, 27.90s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=26--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:41:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 26 + INFO | >> # successes: 25 (96.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [10:41<10:46, 26.94s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=27--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:41:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 27 + INFO | >> # successes: 26 (96.3%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [10:50<08:16, 21.61s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=28--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:42:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 28 + INFO | >> # successes: 27 (96.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [11:22<09:01, 24.61s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=29--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:42:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 29 + INFO | >> # successes: 28 (96.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [11:41<08:03, 23.02s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=30--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:43:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 30 + INFO | >> # successes: 29 (96.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [12:22<09:28, 28.43s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=31--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:43:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 31 + INFO | >> # successes: 30 (96.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [12:45<08:29, 26.80s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=32--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:44:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 32 + INFO | >> # successes: 31 (96.9%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [13:02<07:06, 23.71s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=33--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:44:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 33 + INFO | >> # successes: 32 (97.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [13:26<06:44, 23.76s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=34--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:44:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 34 + INFO | >> # successes: 33 (97.1%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [13:50<06:20, 23.75s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=35--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:45:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 35 + INFO | >> # successes: 34 (97.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [14:22<06:36, 26.42s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=36--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:45:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 36 + INFO | >> # successes: 35 (97.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [14:44<05:50, 25.05s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=37--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:46:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 37 + INFO | >> # successes: 36 (97.3%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [15:19<06:04, 28.02s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=38--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:46:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 38 + INFO | >> # successes: 37 (97.4%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [15:40<05:09, 25.82s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=39--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:47:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 39 + INFO | >> # successes: 38 (97.4%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [16:08<04:50, 26.44s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=40--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:47:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 40 + INFO | >> # successes: 39 (97.5%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [16:39<04:39, 27.95s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=41--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:48:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 41 + INFO | >> # successes: 40 (97.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [16:54<03:35, 23.90s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=42--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:48:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 42 + INFO | >> # successes: 41 (97.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [17:17<03:10, 23.77s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=43--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:48:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 43 + INFO | >> # successes: 42 (97.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [17:49<03:03, 26.15s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=44--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:49:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 44 + INFO | >> # successes: 43 (97.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [18:17<02:40, 26.72s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=45--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:49:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 45 + INFO | >> # successes: 44 (97.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [18:51<02:24, 28.89s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=46--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:50:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 46 + INFO | >> # successes: 45 (97.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [19:16<01:51, 27.84s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=47--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:50:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 47 + INFO | >> # successes: 46 (97.9%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [19:45<01:24, 28.27s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=48--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:51:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 48 + INFO | >> # successes: 47 (97.9%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [20:16<00:57, 28.94s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=49--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:51:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 49 + INFO | >> # successes: 48 (98.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [20:49<00:30, 30.16s/it] INFO | >> run_libero_eval.py:226 + Task: open the middle drawer of + the cabinet + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=50--success=True--task=open_the_middle_drawer_of_the_cabinet.mp4 +09/21 [15:52:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 50 + INFO | >> # successes: 49 (98.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [21:14<00:00, 28.73s/it] 100%|██████████| 50/50 [21:14<00:00, 25.50s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.98 + 10%|█ | 1/10 [21:17<3:11:39, 1277.67s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=51--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:52:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 51 + INFO | >> # successes: 50 (98.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:10<08:26, 10.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=52--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:52:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 52 + INFO | >> # successes: 51 (98.1%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:29<12:14, 15.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=53--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:53:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 53 + INFO | >> # successes: 52 (98.1%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:43<11:37, 14.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=54--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:53:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 54 + INFO | >> # successes: 53 (98.1%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [01:05<13:42, 17.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=55--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:53:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 55 + INFO | >> # successes: 54 (98.2%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:24<13:33, 18.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=56--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:54:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 56 + INFO | >> # successes: 55 (98.2%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:44<13:44, 18.75s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=57--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:54:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 57 + INFO | >> # successes: 56 (98.2%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [02:08<14:46, 20.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=58--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:54:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 58 + INFO | >> # successes: 57 (98.3%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [02:29<14:20, 20.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=59--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:55:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 59 + INFO | >> # successes: 58 (98.3%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [02:48<13:44, 20.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=60--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:55:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 60 + INFO | >> # successes: 59 (98.3%) run_libero_eval.py:226 + + 20%|██ | 10/50 [03:05<12:48, 19.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=61--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:55:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 61 + INFO | >> # successes: 60 (98.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [03:27<12:57, 19.93s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=62--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:56:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 62 + INFO | >> # successes: 61 (98.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [03:43<11:53, 18.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=63--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:56:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 63 + INFO | >> # successes: 62 (98.4%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [04:03<11:56, 19.36s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=64--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:56:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 64 + INFO | >> # successes: 63 (98.4%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [04:24<11:53, 19.82s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=65--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:57:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 65 + INFO | >> # successes: 64 (98.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [04:42<11:06, 19.04s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=66--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:57:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 66 + INFO | >> # successes: 65 (98.5%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [04:59<10:28, 18.48s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=67--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:57:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 67 + INFO | >> # successes: 66 (98.5%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [05:05<08:04, 14.67s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=68--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:57:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 68 + INFO | >> # successes: 67 (98.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [05:24<08:38, 16.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=69--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:58:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 69 + INFO | >> # successes: 68 (98.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [05:46<09:14, 17.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=70--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:58:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 70 + INFO | >> # successes: 69 (98.6%) run_libero_eval.py:226 + + 40%|████ | 20/50 [06:03<08:45, 17.52s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=71--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:58:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 71 + INFO | >> # successes: 70 (98.6%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [06:26<09:15, 19.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=72--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:59:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 72 + INFO | >> # successes: 71 (98.6%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [06:47<09:13, 19.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=73--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:59:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 73 + INFO | >> # successes: 72 (98.6%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [07:09<09:08, 20.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=74--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:59:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 74 + INFO | >> # successes: 73 (98.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [07:22<07:50, 18.11s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=75--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [15:59:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 75 + INFO | >> # successes: 74 (98.7%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [07:32<06:32, 15.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=76--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:00:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 76 + INFO | >> # successes: 75 (98.7%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [07:56<07:21, 18.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=77--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:00:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 77 + INFO | >> # successes: 76 (98.7%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [08:14<06:57, 18.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=78--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:01:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 78 + INFO | >> # successes: 77 (98.7%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [08:39<07:25, 20.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=79--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:01:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 79 + INFO | >> # successes: 78 (98.7%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [09:01<07:15, 20.73s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=80--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:01:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 80 + INFO | >> # successes: 79 (98.8%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [09:18<06:31, 19.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=81--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:01:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 81 + INFO | >> # successes: 80 (98.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [09:34<05:50, 18.45s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=82--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:02:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 82 + INFO | >> # successes: 81 (98.8%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [09:59<06:09, 20.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=83--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:02:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 83 + INFO | >> # successes: 82 (98.8%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [10:15<05:28, 19.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=84--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:03:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 84 + INFO | >> # successes: 83 (98.8%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [10:36<05:16, 19.76s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=85--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:03:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 85 + INFO | >> # successes: 84 (98.8%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [10:41<03:48, 15.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=86--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:03:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 86 + INFO | >> # successes: 85 (98.8%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [11:00<03:47, 16.28s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=87--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:03:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 87 + INFO | >> # successes: 86 (98.9%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [11:23<03:59, 18.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=88--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:03:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 88 + INFO | >> # successes: 87 (98.9%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [11:34<03:13, 16.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=89--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:04:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 89 + INFO | >> # successes: 88 (98.9%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [11:49<02:53, 15.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=90--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:04:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 90 + INFO | >> # successes: 89 (98.9%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [11:57<02:13, 13.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=91--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:04:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 91 + INFO | >> # successes: 90 (98.9%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [12:04<01:45, 11.73s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=92--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:04:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 92 + INFO | >> # successes: 91 (98.9%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [12:26<01:57, 14.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=93--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:05:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 93 + INFO | >> # successes: 92 (98.9%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [12:57<02:16, 19.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=94--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:05:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 94 + INFO | >> # successes: 93 (98.9%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [13:12<01:50, 18.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=95--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:06:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 95 + INFO | >> # successes: 94 (98.9%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [13:36<01:39, 19.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=96--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:06:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 96 + INFO | >> # successes: 95 (99.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [13:56<01:19, 19.93s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=97--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:06:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 97 + INFO | >> # successes: 96 (99.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [14:17<01:01, 20.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=98--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:06:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 98 + INFO | >> # successes: 97 (99.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [14:36<00:39, 19.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=99--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:07:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 99 + INFO | >> # successes: 98 (99.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [14:57<00:20, 20.36s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the stove + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=100--success=True--task=put_the_bowl_on_the_stove.mp4 +09/21 [16:07:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 100 + INFO | >> # successes: 99 (99.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [15:14<00:00, 19.29s/it] 100%|██████████| 50/50 [15:14<00:00, 18.29s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.99 + 20%|██ | 2/10 [36:34<2:22:03, 1065.41s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=101--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:07:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 101 + INFO | >> # successes: 100 (99.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:05<04:36, 5.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=102--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:08:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 102 + INFO | >> # successes: 101 (99.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:28<12:42, 15.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=103--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:08:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 103 + INFO | >> # successes: 102 (99.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:49<14:07, 18.04s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=104--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:08:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 104 + INFO | >> # successes: 103 (99.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [01:02<12:17, 16.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=105--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:08:50] INFO | >> Success: True run_libero_eval.py:226 +09/21 [16:08:51] INFO | >> # episodes completed so run_libero_eval.py:226 + far: 105 + INFO | >> # successes: 104 (99.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:11<10:04, 13.44s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=106--success=False--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:09:50] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 106 + INFO | >> # successes: 104 (98.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [02:10<21:14, 28.96s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=107--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:10:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 107 + INFO | >> # successes: 105 (98.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [02:29<18:34, 25.93s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=108--success=False--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:10:48] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 108 + INFO | >> # successes: 105 (97.2%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [03:08<20:53, 29.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=109--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:11:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 109 + INFO | >> # successes: 106 (97.2%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [03:34<19:38, 28.75s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=110--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:11:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 110 + INFO | >> # successes: 107 (97.3%) run_libero_eval.py:226 + + 20%|██ | 10/50 [03:59<18:25, 27.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=111--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:11:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 111 + INFO | >> # successes: 108 (97.3%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [04:12<14:56, 22.99s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=112--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:12:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 112 + INFO | >> # successes: 109 (97.3%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [04:29<13:35, 21.45s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=113--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:12:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 113 + INFO | >> # successes: 110 (97.3%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [04:52<13:20, 21.62s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=114--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:12:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 114 + INFO | >> # successes: 111 (97.4%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [05:15<13:17, 22.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=115--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:13:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 115 + INFO | >> # successes: 112 (97.4%) run_libero_eval.py:226 + + 30%|███ | 15/50 [05:36<12:48, 21.97s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=116--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:13:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 116 + INFO | >> # successes: 113 (97.4%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [06:02<13:05, 23.11s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=117--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:14:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 117 + INFO | >> # successes: 114 (97.4%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [06:24<12:29, 22.71s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=118--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:14:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 118 + INFO | >> # successes: 115 (97.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [06:45<11:55, 22.35s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=119--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:14:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 119 + INFO | >> # successes: 116 (97.5%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [07:00<10:24, 20.13s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=120--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:15:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 120 + INFO | >> # successes: 117 (97.5%) run_libero_eval.py:226 + + 40%|████ | 20/50 [07:24<10:32, 21.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=121--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:15:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 121 + INFO | >> # successes: 118 (97.5%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [07:46<10:23, 21.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=122--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:15:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 122 + INFO | >> # successes: 119 (97.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [08:09<10:09, 21.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=123--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:15:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 123 + INFO | >> # successes: 120 (97.6%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [08:19<08:11, 18.22s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=124--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:16:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 124 + INFO | >> # successes: 121 (97.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [08:42<08:36, 19.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=125--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:16:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 125 + INFO | >> # successes: 122 (97.6%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [09:05<08:39, 20.79s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=126--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:16:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 126 + INFO | >> # successes: 123 (97.6%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [09:18<07:18, 18.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=127--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:17:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 127 + INFO | >> # successes: 124 (97.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [09:42<07:40, 20.02s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=128--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:17:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 128 + INFO | >> # successes: 125 (97.7%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [10:00<07:11, 19.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=129--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:18:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 129 + INFO | >> # successes: 126 (97.7%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [10:24<07:18, 20.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=130--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:18:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 130 + INFO | >> # successes: 127 (97.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [10:45<06:56, 20.82s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=131--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:18:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 131 + INFO | >> # successes: 128 (97.7%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [10:57<05:46, 18.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=132--success=False--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:19:29] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 132 + INFO | >> # successes: 128 (97.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [11:49<08:29, 28.32s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=133--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:19:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 133 + INFO | >> # successes: 129 (97.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [12:08<07:13, 25.48s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=134--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:20:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 134 + INFO | >> # successes: 130 (97.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [12:33<06:44, 25.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=135--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:20:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 135 + INFO | >> # successes: 131 (97.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [12:58<06:21, 25.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=136--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:20:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 136 + INFO | >> # successes: 132 (97.1%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [13:17<05:26, 23.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=137--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:21:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 137 + INFO | >> # successes: 133 (97.1%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [13:33<04:34, 21.13s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=138--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:21:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 138 + INFO | >> # successes: 134 (97.1%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [13:46<03:46, 18.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=139--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:21:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 139 + INFO | >> # successes: 135 (97.1%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [14:05<03:26, 18.79s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=140--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:22:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 140 + INFO | >> # successes: 136 (97.1%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [14:27<03:18, 19.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=141--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:22:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 141 + INFO | >> # successes: 137 (97.2%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [14:46<02:55, 19.50s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=142--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:22:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 142 + INFO | >> # successes: 138 (97.2%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [15:11<02:48, 21.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=143--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:23:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 143 + INFO | >> # successes: 139 (97.2%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [15:32<02:28, 21.23s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=144--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:23:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 144 + INFO | >> # successes: 140 (97.2%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [15:57<02:13, 22.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=145--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:24:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 145 + INFO | >> # successes: 141 (97.2%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [16:21<01:54, 22.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=146--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:24:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 146 + INFO | >> # successes: 142 (97.3%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [16:44<01:31, 22.83s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=147--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:24:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 147 + INFO | >> # successes: 143 (97.3%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [17:01<01:03, 21.02s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=148--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:24:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 148 + INFO | >> # successes: 144 (97.3%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [17:09<00:34, 17.18s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=149--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:25:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 149 + INFO | >> # successes: 145 (97.3%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [17:27<00:17, 17.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + top of the cabinet + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=150--success=True--task=put_the_wine_bottle_on_top_of_the_cabinet.mp4 +09/21 [16:25:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 150 + INFO | >> # successes: 146 (97.3%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [17:42<00:00, 16.60s/it] 100%|██████████| 50/50 [17:42<00:00, 21.24s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.94 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9733333333333334 + 30%|███ | 3/10 [54:18<2:04:12, 1064.60s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=151--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:25:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 151 + INFO | >> # successes: 147 (97.4%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:21<17:18, 21.19s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=152--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:26:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 152 + INFO | >> # successes: 148 (97.4%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [01:02<26:30, 33.14s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=153--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:27:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 153 + INFO | >> # successes: 149 (97.4%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [01:40<27:28, 35.08s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=154--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:27:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 154 + INFO | >> # successes: 150 (97.4%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [02:24<29:48, 38.87s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=155--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:28:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 155 + INFO | >> # successes: 151 (97.4%) run_libero_eval.py:226 + + 10%|█ | 5/50 [03:00<28:14, 37.66s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=156--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:28:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 156 + INFO | >> # successes: 152 (97.4%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [03:13<21:25, 29.22s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=157--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:29:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 157 + INFO | >> # successes: 153 (97.5%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [03:51<22:58, 32.05s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=158--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:29:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 158 + INFO | >> # successes: 154 (97.5%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [04:31<24:13, 34.60s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=159--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:30:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 159 + INFO | >> # successes: 155 (97.5%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [05:12<25:07, 36.77s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=160--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:31:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 160 + INFO | >> # successes: 156 (97.5%) run_libero_eval.py:226 + + 20%|██ | 10/50 [05:51<24:54, 37.35s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=161--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:31:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 161 + INFO | >> # successes: 157 (97.5%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [06:30<24:40, 37.96s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=162--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:32:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 162 +09/21 [16:32:28] INFO | >> # successes: 158 (97.5%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [07:04<23:19, 36.82s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=163--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:32:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 163 + INFO | >> # successes: 159 (97.5%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [07:35<21:33, 34.95s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=164--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:33:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 164 + INFO | >> # successes: 160 (97.6%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [08:22<23:08, 38.58s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=165--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:34:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 165 + INFO | >> # successes: 161 (97.6%) run_libero_eval.py:226 + + 30%|███ | 15/50 [09:03<22:53, 39.24s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=166--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:35:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 166 + INFO | >> # successes: 162 (97.6%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [09:39<21:41, 38.28s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=167--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:35:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 167 + INFO | >> # successes: 163 (97.6%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [10:20<21:31, 39.14s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=168--success=False--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:36:57] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 168 + INFO | >> # successes: 163 (97.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [11:34<26:24, 49.52s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=169--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:37:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 169 + INFO | >> # successes: 164 (97.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [11:56<21:19, 41.28s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=170--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:38:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 170 + INFO | >> # successes: 165 (97.1%) run_libero_eval.py:226 + + 40%|████ | 20/50 [12:47<22:07, 44.24s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=171--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:38:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 171 + INFO | >> # successes: 166 (97.1%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [13:19<19:35, 40.53s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=172--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:39:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 172 + INFO | >> # successes: 167 (97.1%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [14:06<19:49, 42.47s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=173--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:40:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 173 + INFO | >> # successes: 168 (97.1%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [14:50<19:22, 43.07s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=174--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:40:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 174 + INFO | >> # successes: 169 (97.1%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [15:35<18:53, 43.59s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=175--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:41:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 175 + INFO | >> # successes: 170 (97.1%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [16:19<18:10, 43.61s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=176--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:42:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 176 + INFO | >> # successes: 171 (97.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [16:58<16:59, 42.47s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=177--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:42:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 177 + INFO | >> # successes: 172 (97.2%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [17:36<15:41, 40.93s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=178--success=False--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:44:10] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 178 + INFO | >> # successes: 172 (96.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [18:46<18:17, 49.88s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=179--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:44:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 179 + INFO | >> # successes: 173 (96.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [19:30<16:50, 48.11s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=180--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:45:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 180 + INFO | >> # successes: 174 (96.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [20:08<14:58, 44.92s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=181--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:46:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 181 + INFO | >> # successes: 175 (96.7%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [20:50<13:54, 43.91s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=182--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:46:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 182 + INFO | >> # successes: 176 (96.7%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [21:29<12:49, 42.72s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=183--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:47:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 183 + INFO | >> # successes: 177 (96.7%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [22:05<11:28, 40.47s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=184--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:48:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 184 + INFO | >> # successes: 178 (96.7%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [22:45<10:46, 40.40s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=185--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:48:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 185 + INFO | >> # successes: 179 (96.8%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [23:27<10:14, 40.97s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=186--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:49:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 186 + INFO | >> # successes: 180 (96.8%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [24:22<10:31, 45.07s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=187--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:50:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 187 + INFO | >> # successes: 181 (96.8%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [25:08<09:48, 45.26s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=188--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:51:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 188 + INFO | >> # successes: 182 (96.8%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [25:53<09:02, 45.18s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=189--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:51:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 189 + INFO | >> # successes: 183 (96.8%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [26:21<07:23, 40.30s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=190--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:52:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 190 + INFO | >> # successes: 184 (96.8%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [27:05<06:52, 41.20s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=191--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:53:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 191 + INFO | >> # successes: 185 (96.9%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [27:40<05:55, 39.46s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=192--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:53:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 192 + INFO | >> # successes: 186 (96.9%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [28:25<05:27, 40.98s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=193--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:54:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 193 + INFO | >> # successes: 187 (96.9%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [29:04<04:43, 40.47s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=194--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:55:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 194 + INFO | >> # successes: 188 (96.9%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [29:45<04:03, 40.61s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=195--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:55:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 195 + INFO | >> # successes: 189 (96.9%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [30:16<03:08, 37.64s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=196--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:56:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 196 + INFO | >> # successes: 190 (96.9%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [30:59<02:37, 39.48s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=197--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:57:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 197 + INFO | >> # successes: 191 (97.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [31:37<01:57, 39.06s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=198--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:57:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 198 + INFO | >> # successes: 192 (97.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [32:16<01:17, 38.85s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=199--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:58:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 199 + INFO | >> # successes: 193 (97.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [32:39<00:34, 34.12s/it] INFO | >> run_libero_eval.py:226 + Task: open the top drawer and + put the bowl inside + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=200--success=True--task=open_the_top_drawer_and_put_the_bowl_inside.mp4 +09/21 [16:58:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 200 + INFO | >> # successes: 194 (97.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [33:25<00:00, 37.63s/it] 100%|██████████| 50/50 [33:25<00:00, 40.10s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.97 + 40%|████ | 4/10 [1:27:44<2:23:38, 1436.42s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=201--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [16:59:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 201 + INFO | >> # successes: 195 (97.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:23<19:13, 23.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=202--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [16:59:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 202 + INFO | >> # successes: 196 (97.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:39<15:07, 18.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=203--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [16:59:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 203 + INFO | >> # successes: 197 (97.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:55<14:00, 17.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=204--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:00:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 204 + INFO | >> # successes: 198 (97.1%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [01:18<15:07, 19.73s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=205--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:00:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 205 + INFO | >> # successes: 199 (97.1%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:36<14:22, 19.16s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=206--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:00:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 206 + INFO | >> # successes: 200 (97.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:58<14:50, 20.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=207--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:01:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 207 + INFO | >> # successes: 201 (97.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [02:19<14:37, 20.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=208--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:01:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 208 + INFO | >> # successes: 202 (97.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [02:39<14:13, 20.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=209--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:01:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 209 + INFO | >> # successes: 203 (97.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [02:53<12:29, 18.28s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=210--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:02:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 210 + INFO | >> # successes: 204 (97.1%) run_libero_eval.py:226 + + 20%|██ | 10/50 [03:13<12:25, 18.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=211--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:02:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 211 + INFO | >> # successes: 205 (97.2%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [03:37<13:12, 20.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=212--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:02:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 212 + INFO | >> # successes: 206 (97.2%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [03:59<13:18, 21.01s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=213--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:03:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 213 + INFO | >> # successes: 207 (97.2%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [04:15<11:56, 19.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=214--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:03:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 214 + INFO | >> # successes: 208 (97.2%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [04:22<09:29, 15.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=215--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:03:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 215 + INFO | >> # successes: 209 (97.2%) run_libero_eval.py:226 + + 30%|███ | 15/50 [04:44<10:12, 17.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=216--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:03:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 216 + INFO | >> # successes: 210 (97.2%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [04:56<09:00, 15.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=217--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:03:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 217 + INFO | >> # successes: 211 (97.2%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [05:03<07:17, 13.25s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=218--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:04:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 218 + INFO | >> # successes: 212 (97.2%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [05:22<08:01, 15.05s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=219--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:04:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 219 + INFO | >> # successes: 213 (97.3%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [05:40<08:06, 15.69s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=220--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:04:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 220 + INFO | >> # successes: 214 (97.3%) run_libero_eval.py:226 + + 40%|████ | 20/50 [05:57<08:06, 16.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=221--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:04:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 221 + INFO | >> # successes: 215 (97.3%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [06:04<06:30, 13.46s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=222--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:05:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 222 + INFO | >> # successes: 216 (97.3%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [06:16<06:02, 12.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=223--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:05:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 223 + INFO | >> # successes: 217 (97.3%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [06:39<07:10, 15.94s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=224--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:05:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 224 + INFO | >> # successes: 218 (97.3%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [07:01<07:47, 18.00s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=225--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:06:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 225 + INFO | >> # successes: 219 (97.3%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [07:17<07:08, 17.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=226--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:06:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 226 + INFO | >> # successes: 220 (97.3%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [07:27<06:04, 15.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=227--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:06:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 227 + INFO | >> # successes: 221 (97.4%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [07:47<06:20, 16.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=228--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:06:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 228 + INFO | >> # successes: 222 (97.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [08:05<06:15, 17.06s/it]09/21 [17:06:56] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=229--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:07:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 229 + INFO | >> # successes: 223 (97.4%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [08:16<05:18, 15.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=230--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:07:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 230 + INFO | >> # successes: 224 (97.4%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [08:29<04:48, 14.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=231--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:07:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 231 + INFO | >> # successes: 225 (97.4%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [08:40<04:17, 13.54s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=232--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:07:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 232 + INFO | >> # successes: 226 (97.4%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [08:57<04:21, 14.52s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=233--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:08:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 233 + INFO | >> # successes: 227 (97.4%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [09:15<04:25, 15.63s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=234--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:08:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 234 + INFO | >> # successes: 228 (97.4%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [09:25<03:42, 13.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=235--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:08:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 235 + INFO | >> # successes: 229 (97.4%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [09:45<03:54, 15.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=236--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:08:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 236 + INFO | >> # successes: 230 (97.5%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [10:00<03:36, 15.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=237--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:09:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 237 + INFO | >> # successes: 231 (97.5%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [10:22<03:46, 17.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=238--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:09:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 238 + INFO | >> # successes: 232 (97.5%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [10:46<03:51, 19.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=239--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:09:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 239 + INFO | >> # successes: 233 (97.5%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [11:09<03:46, 20.56s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=240--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:10:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 240 + INFO | >> # successes: 234 (97.5%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [11:31<03:28, 20.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=241--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:10:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 241 + INFO | >> # successes: 235 (97.5%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [11:40<02:35, 17.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=242--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:10:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 242 + INFO | >> # successes: 236 (97.5%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [11:58<02:21, 17.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=243--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:11:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 243 + INFO | >> # successes: 237 (97.5%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [12:11<01:53, 16.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=244--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:11:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 244 + INFO | >> # successes: 238 (97.5%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [12:33<01:48, 18.01s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=245--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:11:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 245 + INFO | >> # successes: 239 (97.6%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [12:43<01:17, 15.54s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=246--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:11:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 246 + INFO | >> # successes: 240 (97.6%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [13:03<01:07, 16.98s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=247--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:12:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 247 + INFO | >> # successes: 241 (97.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [13:21<00:51, 17.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=248--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:12:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 248 + INFO | >> # successes: 242 (97.6%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [13:38<00:34, 17.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=249--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:12:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 249 + INFO | >> # successes: 243 (97.6%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [13:51<00:15, 15.83s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on top of + the cabinet + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=250--success=True--task=put_the_bowl_on_top_of_the_cabinet.mp4 +09/21 [17:12:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 250 + INFO | >> # successes: 244 (97.6%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [13:59<00:00, 13.45s/it] 100%|██████████| 50/50 [13:59<00:00, 16.78s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.976 + 50%|█████ | 5/10 [1:41:45<1:41:48, 1221.66s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=251--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:13:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 251 + INFO | >> # successes: 245 (97.6%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:18<15:25, 18.89s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=252--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:13:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 252 + INFO | >> # successes: 246 (97.6%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:36<14:43, 18.41s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=253--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:13:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 253 + INFO | >> # successes: 247 (97.6%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:45<10:43, 13.69s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=254--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:14:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 254 + INFO | >> # successes: 248 (97.6%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [01:16<15:50, 20.66s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=255--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:14:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 255 + INFO | >> # successes: 249 (97.6%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:48<18:37, 24.83s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=256--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:14:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 256 + INFO | >> # successes: 250 (97.7%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [02:05<16:10, 22.05s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=257--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:15:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 257 + INFO | >> # successes: 251 (97.7%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [02:17<13:33, 18.91s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=258--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:15:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 258 + INFO | >> # successes: 252 (97.7%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [02:38<13:34, 19.39s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=259--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:15:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 259 + INFO | >> # successes: 253 (97.7%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [03:05<14:52, 21.76s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=260--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:16:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 260 + INFO | >> # successes: 254 (97.7%) run_libero_eval.py:226 + + 20%|██ | 10/50 [03:38<16:56, 25.41s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=261--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:16:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 261 + INFO | >> # successes: 255 (97.7%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [03:55<14:52, 22.89s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=262--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:17:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 262 + INFO | >> # successes: 256 (97.7%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [04:24<15:37, 24.68s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=263--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:17:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 263 + INFO | >> # successes: 257 (97.7%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [04:44<14:19, 23.24s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=264--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:18:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 264 + INFO | >> # successes: 258 (97.7%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [05:14<15:09, 25.27s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=265--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:18:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 265 + INFO | >> # successes: 259 (97.7%) run_libero_eval.py:226 + + 30%|███ | 15/50 [05:28<12:45, 21.87s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=266--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:18:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 266 + INFO | >> # successes: 260 (97.7%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [06:00<14:04, 24.84s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=267--success=False--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:19:34] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 267 + INFO | >> # successes: 260 (97.4%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [06:44<16:47, 30.54s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=268--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:20:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 268 + INFO | >> # successes: 261 (97.4%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [07:09<15:26, 28.95s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=269--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:20:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 269 + INFO | >> # successes: 262 (97.4%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [07:38<14:56, 28.93s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=270--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:20:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 270 + INFO | >> # successes: 263 (97.4%) run_libero_eval.py:226 + + 40%|████ | 20/50 [08:04<14:01, 28.06s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=271--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:21:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 271 + INFO | >> # successes: 264 (97.4%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [08:24<12:23, 25.63s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=272--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:21:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 272 + INFO | >> # successes: 265 (97.4%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [08:45<11:20, 24.30s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=273--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:22:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 273 + INFO | >> # successes: 266 (97.4%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [09:19<12:15, 27.23s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=274--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:22:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 274 + INFO | >> # successes: 267 (97.4%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [09:55<12:56, 29.88s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=275--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:23:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 275 + INFO | >> # successes: 268 (97.5%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [10:30<13:05, 31.41s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=276--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:23:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 276 + INFO | >> # successes: 269 (97.5%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [10:47<10:51, 27.15s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=277--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:24:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 277 + INFO | >> # successes: 270 (97.5%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [11:15<10:26, 27.25s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=278--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:24:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 278 + INFO | >> # successes: 271 (97.5%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [11:46<10:27, 28.53s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=279--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:25:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 279 + INFO | >> # successes: 272 (97.5%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [12:19<10:27, 29.86s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=280--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:25:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 280 + INFO | >> # successes: 273 (97.5%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [12:44<09:27, 28.38s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=281--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:26:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 281 + INFO | >> # successes: 274 (97.5%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [13:16<09:18, 29.40s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=282--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:26:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 282 + INFO | >> # successes: 275 (97.5%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [13:40<08:22, 27.94s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=283--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:26:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 283 + INFO | >> # successes: 276 (97.5%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [13:53<06:39, 23.49s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=284--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:27:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 284 + INFO | >> # successes: 277 (97.5%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [14:25<06:52, 25.77s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=285--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:27:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 285 + INFO | >> # successes: 278 (97.5%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [14:42<05:50, 23.34s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=286--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:28:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 286 + INFO | >> # successes: 279 (97.6%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [15:16<06:11, 26.50s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=287--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:28:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 287 + INFO | >> # successes: 280 (97.6%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [15:51<06:17, 29.01s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=288--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:29:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 288 + INFO | >> # successes: 281 (97.6%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [16:24<06:02, 30.21s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=289--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:29:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 289 + INFO | >> # successes: 282 (97.6%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [16:45<05:03, 27.58s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=290--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:29:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 290 + INFO | >> # successes: 283 (97.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [17:07<04:16, 25.70s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=291--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:30:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 291 + INFO | >> # successes: 284 (97.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [17:32<03:49, 25.50s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=292--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:30:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 292 + INFO | >> # successes: 285 (97.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [17:56<03:21, 25.18s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=293--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:31:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 293 + INFO | >> # successes: 286 (97.6%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [18:30<03:14, 27.82s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=294--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:31:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 294 + INFO | >> # successes: 287 (97.6%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [18:54<02:40, 26.69s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=295--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:32:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 295 + INFO | >> # successes: 288 (97.6%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [19:16<02:05, 25.10s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove +09/21 [17:32:07] INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=296--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:32:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 296 + INFO | >> # successes: 289 (97.6%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [19:35<01:32, 23.24s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=297--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:32:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 297 + INFO | >> # successes: 290 (97.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [20:04<01:15, 25.18s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=298--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:33:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 298 + INFO | >> # successes: 291 (97.7%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [20:27<00:48, 24.50s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=299--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:33:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 299 + INFO | >> # successes: 292 (97.7%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [20:42<00:21, 21.64s/it] INFO | >> run_libero_eval.py:226 + Task: push the plate to the + front of the stove + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=300--success=True--task=push_the_plate_to_the_front_of_the_stove.mp4 +09/21 [17:33:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 300 + INFO | >> # successes: 293 (97.7%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [21:06<00:00, 22.38s/it] 100%|██████████| 50/50 [21:06<00:00, 25.33s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9766666666666667 + 60%|██████ | 6/10 [2:02:53<1:22:30, 1237.52s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=301--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:34:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 301 + INFO | >> # successes: 294 (97.7%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:14<11:59, 14.69s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=302--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:34:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 302 + INFO | >> # successes: 295 (97.7%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:26<10:25, 13.02s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=303--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:34:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 303 + INFO | >> # successes: 296 (97.7%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:52<14:50, 18.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=304--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:35:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 304 + INFO | >> # successes: 297 (97.7%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [01:05<12:43, 16.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=305--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:35:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 305 + INFO | >> # successes: 298 (97.7%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:28<14:08, 18.86s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=306--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:35:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 306 + INFO | >> # successes: 299 (97.7%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [02:00<17:06, 23.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=307--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:36:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 307 + INFO | >> # successes: 300 (97.7%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [02:07<12:48, 17.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=308--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:36:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 308 + INFO | >> # successes: 301 (97.7%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [02:23<12:14, 17.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=309--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:36:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 309 + INFO | >> # successes: 302 (97.7%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [02:43<12:28, 18.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=310--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:37:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 310 + INFO | >> # successes: 303 (97.7%) run_libero_eval.py:226 + + 20%|██ | 10/50 [03:07<13:15, 19.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=311--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:37:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 311 + INFO | >> # successes: 304 (97.7%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [03:25<12:36, 19.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=312--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:37:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 312 + INFO | >> # successes: 305 (97.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [03:51<13:32, 21.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=313--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:38:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 313 + INFO | >> # successes: 306 (97.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [04:03<11:23, 18.47s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=314--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:38:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 314 + INFO | >> # successes: 307 (97.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [04:11<09:13, 15.37s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=315--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:38:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 315 + INFO | >> # successes: 308 (97.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [04:25<08:44, 14.98s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=316--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:38:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 316 + INFO | >> # successes: 309 (97.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [04:45<09:20, 16.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=317--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:39:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 317 + INFO | >> # successes: 310 (97.8%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [05:07<09:58, 18.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=318--success=False--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:40:00] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 318 + INFO | >> # successes: 310 (97.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [06:01<15:29, 29.05s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=319--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:40:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 319 + INFO | >> # successes: 311 (97.5%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [06:24<14:02, 27.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=320--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:40:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 320 + INFO | >> # successes: 312 (97.5%) run_libero_eval.py:226 + + 40%|████ | 20/50 [06:43<12:18, 24.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=321--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:40:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 321 + INFO | >> # successes: 313 (97.5%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [06:59<10:42, 22.16s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=322--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:41:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 322 + INFO | >> # successes: 314 (97.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [07:19<09:59, 21.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=323--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:41:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 323 + INFO | >> # successes: 315 (97.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [07:45<10:16, 22.84s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=324--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:41:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 324 + INFO | >> # successes: 316 (97.5%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [08:01<08:56, 20.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=325--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:42:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 325 + INFO | >> # successes: 317 (97.5%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [08:25<09:03, 21.76s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=326--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:42:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 326 + INFO | >> # successes: 318 (97.5%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [08:50<09:02, 22.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=327--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:43:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 327 + INFO | >> # successes: 319 (97.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [09:06<07:55, 20.66s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=328--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:43:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 328 + INFO | >> # successes: 320 (97.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [09:20<06:53, 18.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=329--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:43:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 329 + INFO | >> # successes: 321 (97.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [09:42<06:53, 19.69s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=330--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:43:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 330 + INFO | >> # successes: 322 (97.6%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [09:56<06:02, 18.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=331--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:44:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 331 + INFO | >> # successes: 323 (97.6%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [10:04<04:43, 14.92s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=332--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:44:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 332 + INFO | >> # successes: 324 (97.6%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [10:10<03:43, 12.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=333--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:44:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 333 + INFO | >> # successes: 325 (97.6%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [10:24<03:35, 12.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=334--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:44:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 334 + INFO | >> # successes: 326 (97.6%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [10:46<04:09, 15.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=335--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:45:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 335 + INFO | >> # successes: 327 (97.6%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [11:12<04:38, 18.54s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=336--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:45:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 336 + INFO | >> # successes: 328 (97.6%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [11:31<04:24, 18.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=337--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:45:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 337 + INFO | >> # successes: 329 (97.6%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [11:49<04:01, 18.58s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=338--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:46:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 338 + INFO | >> # successes: 330 (97.6%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [12:10<03:50, 19.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=339--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:46:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 339 + INFO | >> # successes: 331 (97.6%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [12:28<03:27, 18.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=340--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:46:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 340 + INFO | >> # successes: 332 (97.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [12:41<02:51, 17.18s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=341--success=False--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:47:31] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 341 + INFO | >> # successes: 332 (97.4%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [13:32<04:04, 27.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=342--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:47:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 342 + INFO | >> # successes: 333 (97.4%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [13:53<03:22, 25.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=343--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:48:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 343 + INFO | >> # successes: 334 (97.4%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [14:09<02:38, 22.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=344--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:48:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 344 + INFO | >> # successes: 335 (97.4%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [14:32<02:16, 22.72s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=345--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:49:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 345 + INFO | >> # successes: 336 (97.4%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [15:02<02:04, 24.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=346--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:49:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 346 + INFO | >> # successes: 337 (97.4%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [15:10<01:19, 19.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=347--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:49:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 347 + INFO | >> # successes: 338 (97.4%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [15:31<01:00, 20.28s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=348--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:49:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 348 + INFO | >> # successes: 339 (97.4%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [15:54<00:42, 21.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=349--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:50:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 349 + INFO | >> # successes: 340 (97.4%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [16:06<00:18, 18.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the cream cheese in + the bowl + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=350--success=True--task=put_the_cream_cheese_in_the_bowl.mp4 +09/21 [17:50:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 350 + INFO | >> # successes: 341 (97.4%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [16:19<00:00, 16.72s/it] 100%|██████████| 50/50 [16:19<00:00, 19.59s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9742857142857143 + 70%|███████ | 7/10 [2:19:14<57:40, 1153.57s/it] [Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=351--success=True--task=turn_on_the_stove.mp4 +09/21 [17:50:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 351 + INFO | >> # successes: 342 (97.4%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:10<08:52, 10.87s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=352--success=True--task=turn_on_the_stove.mp4 +09/21 [17:50:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 352 + INFO | >> # successes: 343 (97.4%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:23<09:39, 12.07s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=353--success=True--task=turn_on_the_stove.mp4 +09/21 [17:51:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 353 + INFO | >> # successes: 344 (97.5%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:44<12:40, 16.18s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=354--success=True--task=turn_on_the_stove.mp4 +09/21 [17:51:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 354 + INFO | >> # successes: 345 (97.5%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [01:02<12:47, 16.68s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=355--success=True--task=turn_on_the_stove.mp4 +09/21 [17:51:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 355 + INFO | >> # successes: 346 (97.5%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:09<10:00, 13.35s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=356--success=True--task=turn_on_the_stove.mp4 +09/21 [17:51:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 356 + INFO | >> # successes: 347 (97.5%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:27<10:57, 14.95s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=357--success=True--task=turn_on_the_stove.mp4 +09/21 [17:52:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 357 + INFO | >> # successes: 348 (97.5%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:46<11:35, 16.17s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=358--success=True--task=turn_on_the_stove.mp4 +09/21 [17:52:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 358 + INFO | >> # successes: 349 (97.5%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [02:04<11:44, 16.78s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=359--success=True--task=turn_on_the_stove.mp4 +09/21 [17:52:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 359 + INFO | >> # successes: 350 (97.5%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [02:12<09:37, 14.10s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=360--success=True--task=turn_on_the_stove.mp4 +09/21 [17:52:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 360 + INFO | >> # successes: 351 (97.5%) run_libero_eval.py:226 + + 20%|██ | 10/50 [02:31<10:17, 15.44s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=361--success=True--task=turn_on_the_stove.mp4 +09/21 [17:53:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 361 + INFO | >> # successes: 352 (97.5%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:50<10:47, 16.60s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=362--success=True--task=turn_on_the_stove.mp4 +09/21 [17:53:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 362 + INFO | >> # successes: 353 (97.5%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [03:09<11:03, 17.45s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=363--success=True--task=turn_on_the_stove.mp4 +09/21 [17:53:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 363 + INFO | >> # successes: 354 (97.5%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [03:26<10:41, 17.34s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=364--success=True--task=turn_on_the_stove.mp4 +09/21 [17:53:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 364 + INFO | >> # successes: 355 (97.5%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [03:39<09:36, 16.01s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=365--success=True--task=turn_on_the_stove.mp4 +09/21 [17:54:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 365 + INFO | >> # successes: 356 (97.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [03:57<09:40, 16.60s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=366--success=True--task=turn_on_the_stove.mp4 +09/21 [17:54:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 366 + INFO | >> # successes: 357 (97.5%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [04:14<09:25, 16.63s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=367--success=True--task=turn_on_the_stove.mp4 +09/21 [17:54:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 367 + INFO | >> # successes: 358 (97.5%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [04:36<09:57, 18.10s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=368--success=True--task=turn_on_the_stove.mp4 +09/21 [17:55:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 368 + INFO | >> # successes: 359 (97.6%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [04:57<10:15, 19.23s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=369--success=True--task=turn_on_the_stove.mp4 +09/21 [17:55:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 369 + INFO | >> # successes: 360 (97.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [05:06<08:17, 16.04s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=370--success=True--task=turn_on_the_stove.mp4 +09/21 [17:55:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 370 + INFO | >> # successes: 361 (97.6%) run_libero_eval.py:226 + + 40%|████ | 20/50 [05:17<07:12, 14.40s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=371--success=True--task=turn_on_the_stove.mp4 +09/21 [17:55:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 371 + INFO | >> # successes: 362 (97.6%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [05:31<06:58, 14.44s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=372--success=True--task=turn_on_the_stove.mp4 +09/21 [17:56:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 372 + INFO | >> # successes: 363 (97.6%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [05:40<05:53, 12.63s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=373--success=True--task=turn_on_the_stove.mp4 +09/21 [17:56:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 373 + INFO | >> # successes: 364 (97.6%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [05:58<06:24, 14.24s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=374--success=True--task=turn_on_the_stove.mp4 +09/21 [17:56:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 374 + INFO | >> # successes: 365 (97.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [06:16<06:41, 15.44s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=375--success=True--task=turn_on_the_stove.mp4 +09/21 [17:56:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 375 + INFO | >> # successes: 366 (97.6%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [06:21<05:10, 12.42s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=376--success=True--task=turn_on_the_stove.mp4 +09/21 [17:56:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 376 + INFO | >> # successes: 367 (97.6%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [06:36<05:18, 13.29s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=377--success=True--task=turn_on_the_stove.mp4 +09/21 [17:57:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 377 + INFO | >> # successes: 368 (97.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [06:54<05:32, 14.47s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=378--success=True--task=turn_on_the_stove.mp4 +09/21 [17:57:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 378 + INFO | >> # successes: 369 (97.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [07:12<05:41, 15.51s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=379--success=True--task=turn_on_the_stove.mp4 +09/21 [17:57:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 379 + INFO | >> # successes: 370 (97.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [07:16<04:18, 12.31s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=380--success=True--task=turn_on_the_stove.mp4 +09/21 [17:57:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 380 + INFO | >> # successes: 371 (97.6%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [07:28<04:02, 12.14s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=381--success=True--task=turn_on_the_stove.mp4 +09/21 [17:58:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 381 + INFO | >> # successes: 372 (97.6%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [07:46<04:25, 13.98s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=382--success=True--task=turn_on_the_stove.mp4 +09/21 [17:58:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 382 + INFO | >> # successes: 373 (97.6%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [08:02<04:19, 14.43s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=383--success=True--task=turn_on_the_stove.mp4 +09/21 [17:58:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 383 + INFO | >> # successes: 374 (97.7%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [08:16<04:03, 14.33s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=384--success=True--task=turn_on_the_stove.mp4 +09/21 [17:58:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 384 + INFO | >> # successes: 375 (97.7%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [08:29<03:44, 14.02s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=385--success=True--task=turn_on_the_stove.mp4 +09/21 [17:58:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 385 + INFO | >> # successes: 376 (97.7%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [08:37<03:00, 12.06s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=386--success=True--task=turn_on_the_stove.mp4 +09/21 [17:59:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 386 + INFO | >> # successes: 377 (97.7%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [08:50<02:51, 12.27s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=387--success=True--task=turn_on_the_stove.mp4 +09/21 [17:59:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 387 + INFO | >> # successes: 378 (97.7%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [09:02<02:39, 12.28s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=388--success=True--task=turn_on_the_stove.mp4 +09/21 [17:59:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 388 + INFO | >> # successes: 379 (97.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [09:14<02:26, 12.21s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=389--success=True--task=turn_on_the_stove.mp4 +09/21 [17:59:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 389 + INFO | >> # successes: 380 (97.7%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [09:27<02:16, 12.43s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=390--success=True--task=turn_on_the_stove.mp4 +09/21 [18:00:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 390 + INFO | >> # successes: 381 (97.7%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [09:40<02:06, 12.62s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=391--success=True--task=turn_on_the_stove.mp4 +09/21 [18:00:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 391 + INFO | >> # successes: 382 (97.7%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [09:57<02:04, 13.84s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=392--success=True--task=turn_on_the_stove.mp4 +09/21 [18:00:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 392 + INFO | >> # successes: 383 (97.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [10:14<01:59, 14.88s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=393--success=True--task=turn_on_the_stove.mp4 +09/21 [18:00:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 393 + INFO | >> # successes: 384 (97.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [10:24<01:34, 13.49s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=394--success=True--task=turn_on_the_stove.mp4 +09/21 [18:00:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 394 + INFO | >> # successes: 385 (97.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [10:39<01:23, 13.92s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=395--success=True--task=turn_on_the_stove.mp4 +09/21 [18:01:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 395 + INFO | >> # successes: 386 (97.7%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [10:53<01:09, 13.96s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=396--success=True--task=turn_on_the_stove.mp4 +09/21 [18:01:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 396 + INFO | >> # successes: 387 (97.7%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [11:01<00:48, 12.09s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=397--success=True--task=turn_on_the_stove.mp4 +09/21 [18:01:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 397 + INFO | >> # successes: 388 (97.7%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [11:17<00:39, 13.15s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=398--success=True--task=turn_on_the_stove.mp4 +09/21 [18:01:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 398 + INFO | >> # successes: 389 (97.7%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [11:29<00:25, 12.94s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=399--success=True--task=turn_on_the_stove.mp4 +09/21 [18:02:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 399 + INFO | >> # successes: 390 (97.7%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [11:46<00:14, 14.17s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=400--success=True--task=turn_on_the_stove.mp4 +09/21 [18:02:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 400 + INFO | >> # successes: 391 (97.8%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [12:04<00:00, 15.24s/it] 100%|██████████| 50/50 [12:04<00:00, 14.49s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9775 + 80%|████████ | 8/10 [2:31:20<33:54, 1017.47s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=401--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:02:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 401 + INFO | >> # successes: 392 (97.8%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:10, 6.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=402--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:02:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 402 + INFO | >> # successes: 393 (97.8%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:23<10:01, 12.53s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=403--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:03:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 403 + INFO | >> # successes: 394 (97.8%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:34<09:22, 11.97s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=404--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:03:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 404 + INFO | >> # successes: 395 (97.8%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:50<10:19, 13.47s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=405--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:03:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 405 + INFO | >> # successes: 396 (97.8%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:03<10:03, 13.41s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=406--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:03:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 406 + INFO | >> # successes: 397 (97.8%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:13<08:58, 12.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=407--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:03:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 407 + INFO | >> # successes: 398 (97.8%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:28<09:25, 13.16s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=408--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:04:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 408 + INFO | >> # successes: 399 (97.8%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:44<09:49, 14.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=409--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:04:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 409 + INFO | >> # successes: 400 (97.8%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [02:03<10:41, 15.66s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=410--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:04:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 410 + INFO | >> # successes: 401 (97.8%) run_libero_eval.py:226 + + 20%|██ | 10/50 [02:23<11:13, 16.84s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=411--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:05:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 411 + INFO | >> # successes: 402 (97.8%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:40<11:03, 17.01s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=412--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:05:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 412 + INFO | >> # successes: 403 (97.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:47<08:47, 13.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=413--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:05:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 413 + INFO | >> # successes: 404 (97.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [03:02<08:52, 14.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=414--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:05:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 414 + INFO | >> # successes: 405 (97.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [03:21<09:28, 15.79s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=415--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:06:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 415 + INFO | >> # successes: 406 (97.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [03:37<09:12, 15.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=416--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:06:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 416 + INFO | >> # successes: 407 (97.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [03:52<08:43, 15.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=417--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:06:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 417 + INFO | >> # successes: 408 (97.8%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [04:03<07:49, 14.22s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=418--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:06:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 418 + INFO | >> # successes: 409 (97.8%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [04:09<06:09, 11.56s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=419--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:06:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 419 + INFO | >> # successes: 410 (97.9%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [04:28<07:09, 13.84s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=420--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:07:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 420 + INFO | >> # successes: 411 (97.9%) run_libero_eval.py:226 + + 40%|████ | 20/50 [04:35<05:54, 11.83s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=421--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:07:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 421 + INFO | >> # successes: 412 (97.9%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [04:40<04:45, 9.84s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=422--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:07:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 422 + INFO | >> # successes: 413 (97.9%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [04:45<03:55, 8.41s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=423--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:07:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 423 + INFO | >> # successes: 414 (97.9%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:53<03:46, 8.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=424--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:07:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 424 + INFO | >> # successes: 415 (97.9%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [05:03<03:49, 8.81s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=425--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:07:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 425 + INFO | >> # successes: 416 (97.9%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [05:17<04:13, 10.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=426--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:07:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 426 + INFO | >> # successes: 417 (97.9%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [05:25<03:51, 9.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=427--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:08:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 427 + INFO | >> # successes: 418 (97.9%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [05:41<04:22, 11.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=428--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:08:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 428 + INFO | >> # successes: 419 (97.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:58<04:49, 13.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=429--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:08:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 429 + INFO | >> # successes: 420 (97.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [06:15<05:03, 14.46s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=430--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:09:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 430 + INFO | >> # successes: 421 (97.9%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [06:50<06:51, 20.57s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=431--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:09:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 431 + INFO | >> # successes: 422 (97.9%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [07:07<06:07, 19.35s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=432--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:09:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 432 + INFO | >> # successes: 423 (97.9%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [07:27<05:54, 19.69s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=433--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:10:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 433 + INFO | >> # successes: 424 (97.9%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [07:42<05:12, 18.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=434--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:10:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 434 + INFO | >> # successes: 425 (97.9%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [08:01<04:55, 18.46s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=435--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:10:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 435 + INFO | >> # successes: 426 (97.9%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [08:22<04:48, 19.23s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=436--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:11:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 436 + INFO | >> # successes: 427 (97.9%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [08:40<04:22, 18.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=437--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:11:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 437 + INFO | >> # successes: 428 (97.9%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [08:51<03:33, 16.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=438--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:11:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 438 + INFO | >> # successes: 429 (97.9%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [09:02<02:58, 14.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=439--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:11:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 439 + INFO | >> # successes: 430 (97.9%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [09:10<02:22, 12.94s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=440--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:11:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 440 + INFO | >> # successes: 431 (98.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [09:21<02:03, 12.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=441--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:12:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 441 + INFO | >> # successes: 432 (98.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [09:37<02:01, 13.46s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=442--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:12:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 442 + INFO | >> # successes: 433 (98.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [09:52<01:49, 13.72s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=443--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:12:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 443 + INFO | >> # successes: 434 (98.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [10:09<01:42, 14.69s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=444--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:12:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 444 + INFO | >> # successes: 435 (98.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [10:26<01:33, 15.57s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=445--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:13:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 445 + INFO | >> # successes: 436 (98.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [10:46<01:23, 16.73s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=446--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:13:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 446 + INFO | >> # successes: 437 (98.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [11:02<01:06, 16.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=447--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:13:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 447 + INFO | >> # successes: 438 (98.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [11:21<00:52, 17.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=448--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:14:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 448 + INFO | >> # successes: 439 (98.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [11:36<00:33, 16.58s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=449--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:14:17] INFO | >> Success: True run_libero_eval.py:226 +09/21 [18:14:18] INFO | >> # episodes completed so run_libero_eval.py:226 + far: 449 + INFO | >> # successes: 440 (98.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [11:52<00:16, 16.42s/it] INFO | >> run_libero_eval.py:226 + Task: put the bowl on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=450--success=True--task=put_the_bowl_on_the_plate.mp4 +09/21 [18:14:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 450 + INFO | >> # successes: 441 (98.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [12:05<00:00, 15.30s/it] 100%|██████████| 50/50 [12:05<00:00, 14.50s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.98 + 90%|█████████ | 9/10 [2:43:26<15:26, 926.45s/it] [Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=451--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:14:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 451 + INFO | >> # successes: 442 (98.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:10<08:56, 10.94s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=452--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:14:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 452 + INFO | >> # successes: 443 (98.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:25<10:26, 13.06s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=453--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:15:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 453 + INFO | >> # successes: 444 (98.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:38<10:03, 12.83s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=454--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:15:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 454 + INFO | >> # successes: 445 (98.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:54<10:54, 14.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=455--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:16:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 455 + INFO | >> # successes: 446 (98.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:28<16:03, 21.41s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=456--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:16:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 456 + INFO | >> # successes: 447 (98.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:55<17:00, 23.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=457--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:16:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 457 + INFO | >> # successes: 448 (98.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [02:12<15:15, 21.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=458--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:17:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 458 + INFO | >> # successes: 449 (98.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [02:33<14:51, 21.22s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=459--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:17:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 459 + INFO | >> # successes: 450 (98.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [02:53<14:18, 20.94s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=460--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:17:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 460 + INFO | >> # successes: 451 (98.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [03:18<14:38, 21.97s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=461--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:18:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 461 + INFO | >> # successes: 452 (98.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [03:46<15:31, 23.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=462--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:18:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 462 + INFO | >> # successes: 453 (98.1%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [04:15<16:09, 25.50s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=463--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:19:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 463 + INFO | >> # successes: 454 (98.1%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [04:33<14:14, 23.10s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=464--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:19:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 464 + INFO | >> # successes: 455 (98.1%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [05:00<14:34, 24.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=465--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:19:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 465 + INFO | >> # successes: 456 (98.1%) run_libero_eval.py:226 + + 30%|███ | 15/50 [05:16<12:46, 21.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=466--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:20:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 466 + INFO | >> # successes: 457 (98.1%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [05:48<14:04, 24.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=467--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:20:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 467 + INFO | >> # successes: 458 (98.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [06:20<14:51, 27.02s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=468--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:21:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 468 + INFO | >> # successes: 459 (98.1%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [06:52<15:15, 28.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=469--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:21:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 469 + INFO | >> # successes: 460 (98.1%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [07:21<14:48, 28.66s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=470--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:22:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 470 + INFO | >> # successes: 461 (98.1%) run_libero_eval.py:226 + + 40%|████ | 20/50 [07:37<12:28, 24.96s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=471--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:22:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 471 + INFO | >> # successes: 462 (98.1%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [07:55<11:02, 22.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=472--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:22:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 472 + INFO | >> # successes: 463 (98.1%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [08:23<11:21, 24.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=473--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:23:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 473 + INFO | >> # successes: 464 (98.1%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [08:40<09:57, 22.13s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=474--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:23:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 474 + INFO | >> # successes: 465 (98.1%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [09:05<09:55, 22.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=475--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:24:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 475 + INFO | >> # successes: 466 (98.1%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [09:37<10:41, 25.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=476--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:24:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 476 + INFO | >> # successes: 467 (98.1%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [10:09<11:03, 27.66s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=477--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:25:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 477 + INFO | >> # successes: 468 (98.1%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [10:34<10:15, 26.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=478--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:25:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 478 + INFO | >> # successes: 469 (98.1%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [10:42<07:49, 21.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=479--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:25:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 479 + INFO | >> # successes: 470 (98.1%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [11:18<08:57, 25.58s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=480--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:26:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 480 + INFO | >> # successes: 471 (98.1%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [11:53<09:27, 28.37s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=481--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:26:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 481 + INFO | >> # successes: 472 (98.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [12:21<08:55, 28.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=482--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:27:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 482 + INFO | >> # successes: 473 (98.1%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [12:39<07:34, 25.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=483--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:27:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 483 + INFO | >> # successes: 474 (98.1%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [13:12<07:47, 27.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=484--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:28:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 484 + INFO | >> # successes: 475 (98.1%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [13:46<07:52, 29.53s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=485--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:28:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 485 + INFO | >> # successes: 476 (98.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [14:16<07:25, 29.72s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=486--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:29:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 486 + INFO | >> # successes: 477 (98.1%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [14:43<06:44, 28.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=487--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:29:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 487 + INFO | >> # successes: 478 (98.2%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [15:02<05:37, 25.97s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=488--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:29:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 488 + INFO | >> # successes: 479 (98.2%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [15:24<04:55, 24.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=489--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:30:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 489 + INFO | >> # successes: 480 (98.2%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [16:24<06:28, 35.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=490--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:31:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 490 + INFO | >> # successes: 481 (98.2%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [16:34<04:36, 27.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=491--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:31:35] INFO | >> Success: True run_libero_eval.py:226 +09/21 [18:31:36] INFO | >> # episodes completed so run_libero_eval.py:226 + far: 491 + INFO | >> # successes: 482 (98.2%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [17:03<04:12, 28.06s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=492--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:31:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 492 + INFO | >> # successes: 483 (98.2%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [17:25<03:31, 26.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=493--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:32:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 493 + INFO | >> # successes: 484 (98.2%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [17:42<02:44, 23.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=494--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:32:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 494 + INFO | >> # successes: 485 (98.2%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [18:06<02:22, 23.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=495--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:33:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 495 + INFO | >> # successes: 486 (98.2%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [18:29<01:57, 23.48s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=496--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:33:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 496 + INFO | >> # successes: 487 (98.2%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [18:51<01:32, 23.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=497--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:33:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 497 + INFO | >> # successes: 488 (98.2%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [19:14<01:08, 22.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=498--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:34:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 498 + INFO | >> # successes: 489 (98.2%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [19:43<00:49, 24.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=499--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:34:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 499 + INFO | >> # successes: 490 (98.2%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [20:07<00:24, 24.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the wine bottle on + the rack + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_21/2025_09_21-15_30_52--episode=500--success=True--task=put_the_wine_bottle_on_the_rack.mp4 +09/21 [18:35:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 500 + INFO | >> # successes: 491 (98.2%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [20:30<00:00, 24.01s/it] 100%|██████████| 50/50 [20:30<00:00, 24.61s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.982 + 100%|██████████| 10/10 [3:03:59<00:00, 1020.89s/it] 100%|██████████| 10/10 [3:03:59<00:00, 1103.92s/it] + INFO | >> Final results: run_libero_eval.py:226 + INFO | >> Total episodes: 500 run_libero_eval.py:226 + INFO | >> Total successes: 491 run_libero_eval.py:226 + INFO | >> Overall success rate: run_libero_eval.py:226 + 0.9820 (98.2%) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__ + self.gl_ctx.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__ + self.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) diff --git a/VLA-Adapter-UAV/eval_logs/Inference-Long--95.0.log b/VLA-Adapter-UAV/eval_logs/Inference-Long--95.0.log new file mode 100644 index 0000000000000000000000000000000000000000..3839cbbf4e7ab177358b917169ca69d58b32b330 --- /dev/null +++ b/VLA-Adapter-UAV/eval_logs/Inference-Long--95.0.log @@ -0,0 +1,7671 @@ +2025-09-11 08:39:30.839923: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`. +2025-09-11 08:39:30.870251: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2025-09-11 08:39:30.870284: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2025-09-11 08:39:30.871192: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2025-09-11 08:39:30.876088: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 AVX_VNNI AMX_TILE AMX_INT8 AMX_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2025-09-11 08:39:31.408559: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +[robosuite WARNING] No private macro file found! (macros.py:53) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:54) +[robosuite WARNING] To setup, run: python /ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:55) +2025-09-11 08:39:33.921800: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2348] TensorFlow was not built with CUDA kernel binaries compatible with compute capability 9.0. CUDA kernels will be jit-compiled from PTX, which could take 30 minutes or longer. +Using LIBERO constants: + NUM_ACTIONS_CHUNK = 8 + ACTION_DIM = 7 + PROPRIO_DIM = 8 + ACTION_PROPRIO_NORMALIZATION_TYPE = bounds_q99 +If needed, manually set the correct constants in `prismatic/vla/constants.py`! +Instantiating pretrained VLA policy... + + +Loaded model: +09/11 [08:39:51] INFO | >> Logging to local log file: run_libero_eval.py:211 + ./experiments/logs/EVAL-libero_ + 10-openvla-2025_09_11-08_39_44. + txt +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] + INFO | >> Task suite: libero_10 run_libero_eval.py:226 + 0%| | 0/10 [00:00> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=1--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:40:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 1 + INFO | >> # successes: 1 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:10<08:13, 10.06s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=2--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:40:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 2 + INFO | >> # successes: 2 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:20<08:05, 10.11s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=3--success=False--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:40:31] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 3 + INFO | >> # successes: 2 (66.7%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:37<10:33, 13.47s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=4--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:40:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 4 + INFO | >> # successes: 3 (75.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:48<09:25, 12.28s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=5--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:40:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 5 + INFO | >> # successes: 4 (80.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:59<09:05, 12.13s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=6--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:41:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 6 + INFO | >> # successes: 5 (83.3%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:12<09:03, 12.35s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=7--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:41:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 7 + INFO | >> # successes: 6 (85.7%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:25<08:53, 12.41s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=8--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:41:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 8 + INFO | >> # successes: 7 (87.5%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:36<08:25, 12.03s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=9--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:41:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 9 + INFO | >> # successes: 8 (88.9%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:47<07:59, 11.69s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=10--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:41:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 10 + INFO | >> # successes: 9 (90.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:58<07:38, 11.47s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=11--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:42:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 11 + INFO | >> # successes: 10 (90.9%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:11<07:40, 11.81s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=12--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:42:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 12 + INFO | >> # successes: 11 (91.7%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:22<07:27, 11.77s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=13--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:42:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 13 + INFO | >> # successes: 12 (92.3%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:34<07:13, 11.71s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=14--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:42:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 14 + INFO | >> # successes: 13 (92.9%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:45<07:00, 11.68s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=15--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:42:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 15 + INFO | >> # successes: 14 (93.3%) run_libero_eval.py:226 + + 30%|███ | 15/50 [03:04<08:02, 13.77s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=16--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:43:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 16 + INFO | >> # successes: 15 (93.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [03:17<07:38, 13.50s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=17--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:43:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 17 + INFO | >> # successes: 16 (94.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:29<07:11, 13.08s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=18--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:43:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 18 + INFO | >> # successes: 17 (94.4%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:41<06:52, 12.88s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=19--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:43:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 19 + INFO | >> # successes: 18 (94.7%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:55<06:45, 13.08s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=20--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:44:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 20 + INFO | >> # successes: 19 (95.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [04:08<06:31, 13.05s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=21--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:44:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 21 + INFO | >> # successes: 20 (95.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [04:21<06:14, 12.91s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=22--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:44:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 22 + INFO | >> # successes: 21 (95.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [04:33<05:57, 12.76s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=23--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:44:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 23 + INFO | >> # successes: 22 (95.7%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:45<05:35, 12.43s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=24--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:44:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 24 + INFO | >> # successes: 23 (95.8%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:56<05:15, 12.14s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=25--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:45:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 25 + INFO | >> # successes: 24 (96.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [05:07<04:57, 11.92s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=26--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:45:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 26 + INFO | >> # successes: 25 (96.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [05:20<04:50, 12.12s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=27--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:45:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 27 + INFO | >> # successes: 26 (96.3%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [05:31<04:30, 11.77s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=28--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:45:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 28 + INFO | >> # successes: 27 (96.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:44<04:23, 12.00s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=29--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:45:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 29 + INFO | >> # successes: 28 (96.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:57<04:22, 12.48s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=30--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:46:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 30 + INFO | >> # successes: 29 (96.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [06:09<04:07, 12.35s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=31--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:46:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 31 + INFO | >> # successes: 30 (96.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [06:22<03:55, 12.42s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=32--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:46:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 32 + INFO | >> # successes: 31 (96.9%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [06:33<03:37, 12.11s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=33--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:46:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 33 + INFO | >> # successes: 32 (97.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [06:45<03:24, 12.05s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=34--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:46:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 34 + INFO | >> # successes: 33 (97.1%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:57<03:12, 12.03s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=35--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:47:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 35 + INFO | >> # successes: 34 (97.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [07:08<02:56, 11.80s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=36--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:47:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 36 + INFO | >> # successes: 35 (97.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [07:21<02:48, 12.00s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=37--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:47:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 37 + INFO | >> # successes: 36 (97.3%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [07:33<02:37, 12.14s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=38--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:47:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 38 + INFO | >> # successes: 37 (97.4%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [07:48<02:36, 13.01s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=39--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:47:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 39 + INFO | >> # successes: 38 (97.4%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [08:03<02:28, 13.54s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=40--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:48:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 40 + INFO | >> # successes: 39 (97.5%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [08:15<02:10, 13.03s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=41--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:48:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 41 + INFO | >> # successes: 40 (97.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [08:28<01:57, 13.07s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=42--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:48:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 42 + INFO | >> # successes: 41 (97.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [08:40<01:41, 12.67s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=43--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:48:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 43 + INFO | >> # successes: 42 (97.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [08:52<01:27, 12.51s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=44--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:48:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 44 + INFO | >> # successes: 43 (97.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [09:03<01:13, 12.17s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=45--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:49:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 45 + INFO | >> # successes: 44 (97.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [09:17<01:02, 12.58s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=46--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:49:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 46 + INFO | >> # successes: 45 (97.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [09:33<00:54, 13.53s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=47--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:49:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 47 + INFO | >> # successes: 46 (97.9%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [09:44<00:38, 12.91s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=48--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:49:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 48 + INFO | >> # successes: 47 (97.9%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [09:57<00:25, 12.93s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=49--success=True--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:50:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 49 + INFO | >> # successes: 48 (98.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [10:09<00:12, 12.64s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the tomato sauce in + the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=50--success=False--task=put_both_the_alphabet_soup_and_the_tomato_sauce_in.mp4 +09/11 [08:50:25] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 50 + INFO | >> # successes: 48 (96.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [10:31<00:00, 15.36s/it] 100%|██████████| 50/50 [10:31<00:00, 12.62s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.96 + 10%|█ | 1/10 [10:34<1:35:06, 634.04s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=51--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:50:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 51 + INFO | >> # successes: 49 (96.1%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:11<09:17, 11.37s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=52--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:50:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 52 + INFO | >> # successes: 50 (96.2%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:25<10:20, 12.93s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=53--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:51:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 53 + INFO | >> # successes: 51 (96.2%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:37<09:54, 12.66s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=54--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:51:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 54 + INFO | >> # successes: 52 (96.3%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:49<09:19, 12.16s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=55--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:51:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 55 + INFO | >> # successes: 53 (96.4%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:00<08:55, 11.89s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=56--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:51:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 56 + INFO | >> # successes: 54 (96.4%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:13<08:56, 12.19s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=57--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:51:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 57 + INFO | >> # successes: 55 (96.5%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:25<08:41, 12.13s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=58--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:52:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 58 + INFO | >> # successes: 56 (96.6%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:36<08:13, 11.75s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=59--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:52:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 59 + INFO | >> # successes: 57 (96.6%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:48<08:02, 11.76s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=60--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:52:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 60 + INFO | >> # successes: 58 (96.7%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:59<07:45, 11.65s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=61--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:52:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 61 + INFO | >> # successes: 59 (96.7%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:10<07:24, 11.39s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=62--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:52:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 62 + INFO | >> # successes: 60 (96.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:22<07:20, 11.58s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=63--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:53:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 63 + INFO | >> # successes: 61 (96.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:33<07:05, 11.49s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=64--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:53:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 64 + INFO | >> # successes: 62 (96.9%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:45<06:53, 11.49s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=65--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:53:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 65 + INFO | >> # successes: 63 (96.9%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:56<06:42, 11.50s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=66--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:53:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 66 + INFO | >> # successes: 64 (97.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [03:07<06:25, 11.35s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=67--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:53:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 67 + INFO | >> # successes: 65 (97.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:18<06:15, 11.37s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=68--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:53:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 68 + INFO | >> # successes: 66 (97.1%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:30<06:04, 11.39s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=69--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:54:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 69 + INFO | >> # successes: 67 (97.1%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:41<05:49, 11.27s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=70--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:54:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 70 + INFO | >> # successes: 68 (97.1%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:52<05:38, 11.28s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=71--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:54:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 71 + INFO | >> # successes: 69 (97.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [04:06<05:47, 11.98s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=72--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:54:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 72 + INFO | >> # successes: 70 (97.2%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [04:17<05:28, 11.72s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=73--success=False--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:55:05] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 73 + INFO | >> # successes: 70 (95.9%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:38<06:35, 14.65s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=74--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:55:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 74 + INFO | >> # successes: 71 (95.9%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:49<05:48, 13.42s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=75--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:55:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 75 + INFO | >> # successes: 72 (96.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [05:00<05:15, 12.63s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=76--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:55:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 76 + INFO | >> # successes: 73 (96.1%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [05:11<04:53, 12.24s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=77--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:55:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 77 + INFO | >> # successes: 74 (96.1%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [05:23<04:38, 12.09s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=78--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:56:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 78 + INFO | >> # successes: 75 (96.2%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:34<04:20, 11.83s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=79--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:56:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 79 + INFO | >> # successes: 76 (96.2%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:46<04:11, 11.97s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=80--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:56:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 80 + INFO | >> # successes: 77 (96.2%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [06:02<04:19, 13.00s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=81--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:56:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 81 + INFO | >> # successes: 78 (96.3%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [06:13<03:56, 12.44s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=82--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:56:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 82 + INFO | >> # successes: 79 (96.3%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [06:24<03:36, 12.02s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=83--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:57:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 83 + INFO | >> # successes: 80 (96.4%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [06:36<03:26, 12.16s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=84--success=False--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:57:25] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 84 + INFO | >> # successes: 80 (95.2%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:58<04:02, 15.14s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=85--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:57:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 85 + INFO | >> # successes: 81 (95.3%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [07:11<03:35, 14.37s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=86--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:57:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 86 + INFO | >> # successes: 82 (95.3%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [07:22<03:08, 13.43s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=87--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:58:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 87 + INFO | >> # successes: 83 (95.4%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [07:34<02:48, 12.97s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=88--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:58:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 88 + INFO | >> # successes: 84 (95.5%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [07:45<02:27, 12.31s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=89--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:58:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 89 + INFO | >> # successes: 85 (95.5%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [07:56<02:09, 11.80s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=90--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:58:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 90 + INFO | >> # successes: 86 (95.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [08:09<02:02, 12.24s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=91--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:58:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 91 + INFO | >> # successes: 87 (95.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [08:20<01:46, 11.84s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=92--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:59:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 92 + INFO | >> # successes: 88 (95.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [08:34<01:41, 12.71s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=93--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:59:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 93 + INFO | >> # successes: 89 (95.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [08:45<01:25, 12.17s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=94--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:59:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 94 + INFO | >> # successes: 90 (95.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [08:57<01:11, 11.96s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=95--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:59:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 95 + INFO | >> # successes: 91 (95.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [09:11<01:02, 12.47s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=96--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:59:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 96 + INFO | >> # successes: 92 (95.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [09:21<00:47, 11.91s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=97--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [08:59:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 97 + INFO | >> # successes: 93 (95.9%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [09:33<00:35, 11.79s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=98--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [09:00:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 98 + INFO | >> # successes: 94 (95.9%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [09:47<00:25, 12.58s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=99--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [09:00:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 99 + INFO | >> # successes: 95 (96.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [09:58<00:12, 12.21s/it] INFO | >> run_libero_eval.py:226 + Task: put both the cream cheese + box and the butter in the + basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=100--success=True--task=put_both_the_cream_cheese_box_and_the_butter_in_th.mp4 +09/11 [09:00:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 100 + INFO | >> # successes: 96 (96.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [10:12<00:00, 12.64s/it] 100%|██████████| 50/50 [10:12<00:00, 12.25s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.96 + 20%|██ | 2/10 [20:48<1:22:58, 622.35s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=101--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:00:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 101 + INFO | >> # successes: 97 (96.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:10<08:53, 10.88s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=102--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:01:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 102 + INFO | >> # successes: 98 (96.1%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:21<08:35, 10.73s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=103--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:01:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 103 + INFO | >> # successes: 99 (96.1%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:32<08:28, 10.81s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=104--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:01:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 104 + INFO | >> # successes: 100 (96.2%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:43<08:25, 11.00s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=105--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:01:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 105 + INFO | >> # successes: 101 (96.2%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:54<08:11, 10.92s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=106--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:01:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 106 + INFO | >> # successes: 102 (96.2%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:06<08:20, 11.37s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=107--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:01:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 107 + INFO | >> # successes: 103 (96.3%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:17<07:59, 11.15s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=108--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:02:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 108 + INFO | >> # successes: 104 (96.3%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:28<07:43, 11.03s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=109--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:02:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 109 + INFO | >> # successes: 105 (96.3%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:39<07:31, 11.00s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=110--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:02:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 110 + INFO | >> # successes: 106 (96.4%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:49<07:11, 10.80s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=111--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:02:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 111 + INFO | >> # successes: 107 (96.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:59<06:54, 10.63s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=112--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:02:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 112 + INFO | >> # successes: 108 (96.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:10<06:49, 10.78s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=113--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:03:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 113 + INFO | >> # successes: 109 (96.5%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:21<06:32, 10.60s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=114--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:03:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 114 + INFO | >> # successes: 110 (96.5%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:31<06:20, 10.58s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=115--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:03:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 115 + INFO | >> # successes: 111 (96.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:42<06:11, 10.60s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=116--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:03:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 116 + INFO | >> # successes: 112 (96.6%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:52<05:57, 10.50s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=117--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:03:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 117 + INFO | >> # successes: 113 (96.6%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:02<05:46, 10.50s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=118--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:03:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 118 + INFO | >> # successes: 114 (96.6%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:13<05:35, 10.50s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=119--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:04:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 119 + INFO | >> # successes: 115 (96.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:25<05:37, 10.89s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=120--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:04:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 120 + INFO | >> # successes: 116 (96.7%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:35<05:22, 10.76s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=121--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:04:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 121 + INFO | >> # successes: 117 (96.7%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [03:46<05:13, 10.80s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=122--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:04:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 122 + INFO | >> # successes: 118 (96.7%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [03:57<05:00, 10.72s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=123--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:04:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 123 + INFO | >> # successes: 119 (96.7%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:07<04:44, 10.53s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=124--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:04:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 124 + INFO | >> # successes: 120 (96.8%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:18<04:38, 10.73s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=125--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:05:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 125 + INFO | >> # successes: 121 (96.8%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:28<04:25, 10.61s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=126--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:05:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 126 + INFO | >> # successes: 122 (96.8%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [04:39<04:13, 10.55s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=127--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:05:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 127 + INFO | >> # successes: 123 (96.9%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [04:50<04:05, 10.69s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=128--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:05:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 128 + INFO | >> # successes: 124 (96.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:00<03:54, 10.64s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=129--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:05:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 129 + INFO | >> # successes: 125 (96.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:11<03:42, 10.60s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=130--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:06:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 130 + INFO | >> # successes: 126 (96.9%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:21<03:31, 10.59s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=131--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:06:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 131 + INFO | >> # successes: 127 (96.9%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:32<03:21, 10.60s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=132--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:06:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 132 + INFO | >> # successes: 128 (97.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [05:43<03:10, 10.61s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=133--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:06:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 133 + INFO | >> # successes: 129 (97.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [05:52<02:56, 10.38s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=134--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:06:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 134 + INFO | >> # successes: 130 (97.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:02<02:42, 10.17s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=135--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:06:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 135 + INFO | >> # successes: 131 (97.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [06:13<02:35, 10.38s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=136--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:07:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 136 + INFO | >> # successes: 132 (97.1%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [06:24<02:26, 10.47s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=137--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:07:14] INFO | >> Success: True run_libero_eval.py:226 +09/11 [09:07:15] INFO | >> # episodes completed so run_libero_eval.py:226 + far: 137 + INFO | >> # successes: 133 (97.1%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [06:34<02:14, 10.35s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=138--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:07:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 138 + INFO | >> # successes: 134 (97.1%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [06:45<02:07, 10.59s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=139--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:07:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 139 + INFO | >> # successes: 135 (97.1%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [06:55<01:54, 10.39s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=140--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:07:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 140 + INFO | >> # successes: 136 (97.1%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [07:05<01:43, 10.30s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=141--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:07:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 141 + INFO | >> # successes: 137 (97.2%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [07:16<01:35, 10.58s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=142--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:08:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 142 + INFO | >> # successes: 138 (97.2%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [07:26<01:23, 10.42s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=143--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:08:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 143 + INFO | >> # successes: 139 (97.2%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [07:37<01:13, 10.53s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=144--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:08:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 144 + INFO | >> # successes: 140 (97.2%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [07:47<01:02, 10.50s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=145--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:08:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 145 + INFO | >> # successes: 141 (97.2%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [07:58<00:52, 10.46s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=146--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:08:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 146 + INFO | >> # successes: 142 (97.3%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [08:07<00:40, 10.21s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=147--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:09:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 147 + INFO | >> # successes: 143 (97.3%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [08:19<00:31, 10.59s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=148--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:09:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 148 + INFO | >> # successes: 144 (97.3%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [08:33<00:23, 11.72s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=149--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:09:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 149 + INFO | >> # successes: 145 (97.3%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [08:44<00:11, 11.52s/it] INFO | >> run_libero_eval.py:226 + Task: turn on the stove and put + the moka pot on it + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=150--success=True--task=turn_on_the_stove_and_put_the_moka_pot_on_it.mp4 +09/11 [09:09:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 150 + INFO | >> # successes: 146 (97.3%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [08:55<00:00, 11.34s/it] 100%|██████████| 50/50 [08:55<00:00, 10.71s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9733333333333334 + 30%|███ | 3/10 [29:45<1:08:04, 583.49s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=151--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:09:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 151 + INFO | >> # successes: 147 (97.4%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:09<07:36, 9.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=152--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:09:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 152 + INFO | >> # successes: 148 (97.4%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:18<07:36, 9.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=153--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:10:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 153 + INFO | >> # successes: 149 (97.4%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:29<07:52, 10.05s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=154--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:10:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 154 + INFO | >> # successes: 150 (97.4%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:39<07:35, 9.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=155--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:10:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 155 + INFO | >> # successes: 151 (97.4%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:49<07:23, 9.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=156--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:10:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 156 + INFO | >> # successes: 152 (97.4%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:58<07:03, 9.63s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=157--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:10:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 157 + INFO | >> # successes: 153 (97.5%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:08<06:57, 9.71s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=158--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:10:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 158 + INFO | >> # successes: 154 (97.5%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:17<06:41, 9.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=159--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:11:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 159 + INFO | >> # successes: 155 (97.5%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:27<06:33, 9.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=160--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:11:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 160 + INFO | >> # successes: 156 (97.5%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:36<06:26, 9.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=161--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:11:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 161 + INFO | >> # successes: 157 (97.5%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:46<06:19, 9.72s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=162--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:11:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 162 + INFO | >> # successes: 158 (97.5%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:56<06:06, 9.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=163--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:11:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 163 + INFO | >> # successes: 159 (97.5%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:05<05:55, 9.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=164--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:11:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 164 + INFO | >> # successes: 160 (97.6%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:15<05:49, 9.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=165--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:12:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 165 + INFO | >> # successes: 161 (97.6%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:25<05:36, 9.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=166--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:12:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 166 + INFO | >> # successes: 162 (97.6%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:35<05:30, 9.73s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=167--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:12:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 167 + INFO | >> # successes: 163 (97.6%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:44<05:20, 9.72s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=168--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:12:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 168 + INFO | >> # successes: 164 (97.6%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:53<05:05, 9.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=169--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:12:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 169 + INFO | >> # successes: 165 (97.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:03<04:52, 9.45s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=170--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:12:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 170 + INFO | >> # successes: 166 (97.6%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:12<04:41, 9.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=171--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:13:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 171 + INFO | >> # successes: 167 (97.7%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [03:21<04:32, 9.41s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=172--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:13:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 172 + INFO | >> # successes: 168 (97.7%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [03:31<04:24, 9.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=173--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:13:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 173 + INFO | >> # successes: 169 (97.7%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:40<04:16, 9.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=174--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:13:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 174 + INFO | >> # successes: 170 (97.7%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:50<04:07, 9.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=175--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:13:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 175 + INFO | >> # successes: 171 (97.7%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:00<04:02, 9.68s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=176--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:13:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 176 + INFO | >> # successes: 172 (97.7%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [04:10<03:54, 9.76s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=177--success=False--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:14:08] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 177 + INFO | >> # successes: 172 (97.2%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [04:30<04:53, 12.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=178--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:14:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 178 + INFO | >> # successes: 173 (97.2%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [04:40<04:22, 11.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=179--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:14:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 179 + INFO | >> # successes: 174 (97.2%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [04:50<03:56, 11.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=180--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:14:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 180 + INFO | >> # successes: 175 (97.2%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:00<03:39, 10.96s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=181--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:14:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 181 + INFO | >> # successes: 176 (97.2%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:09<03:19, 10.52s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=182--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:14:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 182 + INFO | >> # successes: 177 (97.3%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [05:18<03:01, 10.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=183--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:15:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 183 + INFO | >> # successes: 178 (97.3%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [05:29<02:55, 10.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=184--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:15:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 184 + INFO | >> # successes: 179 (97.3%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [05:38<02:39, 9.98s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=185--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:15:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 185 + INFO | >> # successes: 180 (97.3%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [05:49<02:31, 10.07s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=186--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:15:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 186 + INFO | >> # successes: 181 (97.3%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [05:58<02:18, 9.87s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=187--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:15:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 187 + INFO | >> # successes: 182 (97.3%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [06:08<02:06, 9.75s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=188--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:15:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 188 + INFO | >> # successes: 183 (97.3%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [06:18<01:59, 9.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=189--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:16:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 189 + INFO | >> # successes: 184 (97.4%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [06:30<01:57, 10.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=190--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:16:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 190 + INFO | >> # successes: 185 (97.4%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [06:40<01:43, 10.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=191--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:16:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 191 + INFO | >> # successes: 186 (97.4%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [06:49<01:29, 9.99s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=192--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:16:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 192 + INFO | >> # successes: 187 (97.4%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [06:58<01:18, 9.79s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=193--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:16:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 193 + INFO | >> # successes: 188 (97.4%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [07:08<01:07, 9.68s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=194--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:17:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 194 + INFO | >> # successes: 189 (97.4%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [07:23<01:08, 11.45s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=195--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:17:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 195 + INFO | >> # successes: 190 (97.4%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [07:33<00:54, 10.93s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=196--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:17:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 196 + INFO | >> # successes: 191 (97.4%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [07:42<00:41, 10.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=197--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:17:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 197 + INFO | >> # successes: 192 (97.5%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [07:51<00:30, 10.10s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=198--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:17:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 198 + INFO | >> # successes: 193 (97.5%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [08:01<00:19, 9.92s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=199--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:17:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 199 + INFO | >> # successes: 194 (97.5%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [08:10<00:09, 9.68s/it] INFO | >> run_libero_eval.py:226 + Task: put the black bowl in the + bottom drawer of the cabinet + and close it + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=200--success=True--task=put_the_black_bowl_in_the_bottom_drawer_of_the_cab.mp4 +09/11 [09:17:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 200 + INFO | >> # successes: 195 (97.5%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [08:20<00:00, 9.68s/it] 100%|██████████| 50/50 [08:20<00:00, 10.01s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.975 + 40%|████ | 4/10 [38:07<55:08, 551.44s/it] [Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=201--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:18:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 201 + INFO | >> # successes: 196 (97.5%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:11<09:12, 11.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=202--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:18:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 202 + INFO | >> # successes: 197 (97.5%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:20<07:59, 9.98s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=203--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:18:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 203 + INFO | >> # successes: 198 (97.5%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:30<07:45, 9.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=204--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:18:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 204 + INFO | >> # successes: 199 (97.5%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:39<07:31, 9.82s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=205--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:18:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 205 + INFO | >> # successes: 200 (97.6%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:49<07:16, 9.69s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=206--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:19:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 206 + INFO | >> # successes: 201 (97.6%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:59<07:15, 9.91s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=207--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:19:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 207 + INFO | >> # successes: 202 (97.6%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:09<07:06, 9.92s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=208--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:19:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 208 + INFO | >> # successes: 203 (97.6%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:19<06:58, 9.97s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=209--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:19:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 209 + INFO | >> # successes: 204 (97.6%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:29<06:49, 9.99s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=210--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:19:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 210 + INFO | >> # successes: 205 (97.6%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:39<06:40, 10.00s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=211--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:19:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 211 + INFO | >> # successes: 206 (97.6%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:50<06:40, 10.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=212--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:20:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 212 + INFO | >> # successes: 207 (97.6%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:00<06:22, 10.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=213--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:20:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 213 + INFO | >> # successes: 208 (97.7%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:10<06:13, 10.11s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=214--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:20:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 214 + INFO | >> # successes: 209 (97.7%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:19<05:53, 9.82s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=215--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:20:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 215 + INFO | >> # successes: 210 (97.7%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:28<05:37, 9.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=216--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:20:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 216 + INFO | >> # successes: 211 (97.7%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:41<05:58, 10.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=217--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:20:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 217 + INFO | >> # successes: 212 (97.7%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:51<05:39, 10.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=218--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:21:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 218 + INFO | >> # successes: 213 (97.7%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:00<05:20, 10.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=219--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:21:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 219 + INFO | >> # successes: 214 (97.7%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:10<05:11, 10.05s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=220--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:21:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 220 + INFO | >> # successes: 215 (97.7%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:20<05:01, 10.04s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=221--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:21:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 221 + INFO | >> # successes: 216 (97.7%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [03:31<04:55, 10.20s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=222--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:21:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 222 + INFO | >> # successes: 217 (97.7%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [03:40<04:35, 9.84s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=223--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:21:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 223 + INFO | >> # successes: 218 (97.8%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:49<04:24, 9.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=224--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:22:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 224 + INFO | >> # successes: 219 (97.8%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:59<04:12, 9.71s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=225--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:22:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 225 + INFO | >> # successes: 220 (97.8%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:08<04:00, 9.62s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=226--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:22:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 226 + INFO | >> # successes: 221 (97.8%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [04:18<03:52, 9.67s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=227--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:22:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 227 + INFO | >> # successes: 222 (97.8%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [04:28<03:41, 9.63s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=228--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:22:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 228 + INFO | >> # successes: 223 (97.8%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [04:37<03:31, 9.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=229--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:22:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 229 + INFO | >> # successes: 224 (97.8%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [04:48<03:30, 10.01s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=230--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:22:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 230 + INFO | >> # successes: 225 (97.8%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [04:57<03:14, 9.73s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=231--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:23:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 231 + INFO | >> # successes: 226 (97.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:07<03:04, 9.69s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=232--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:23:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 232 + INFO | >> # successes: 227 (97.8%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [05:17<02:55, 9.73s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=233--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:23:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 233 + INFO | >> # successes: 228 (97.9%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [05:26<02:44, 9.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=234--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:23:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 234 + INFO | >> # successes: 229 (97.9%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [05:36<02:34, 9.66s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=235--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:23:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 235 + INFO | >> # successes: 230 (97.9%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [05:45<02:24, 9.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=236--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:23:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 236 + INFO | >> # successes: 231 (97.9%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [05:56<02:20, 10.01s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=237--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:24:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 237 + INFO | >> # successes: 232 (97.9%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [06:06<02:08, 9.92s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=238--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:24:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 238 + INFO | >> # successes: 233 (97.9%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [06:17<02:03, 10.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=239--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:24:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 239 + INFO | >> # successes: 234 (97.9%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [06:29<01:57, 10.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=240--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:24:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 240 + INFO | >> # successes: 235 (97.9%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [06:38<01:42, 10.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=241--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:24:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 241 + INFO | >> # successes: 236 (97.9%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [06:48<01:31, 10.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=242--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:25:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 242 + INFO | >> # successes: 237 (97.9%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [06:58<01:21, 10.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=243--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:25:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 243 + INFO | >> # successes: 238 (97.9%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [07:08<01:10, 10.11s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=244--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:25:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 244 + INFO | >> # successes: 239 (98.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [07:18<01:00, 10.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=245--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:25:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 245 + INFO | >> # successes: 240 (98.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [07:28<00:49, 9.97s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=246--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:25:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 246 + INFO | >> # successes: 241 (98.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [07:37<00:39, 9.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=247--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:25:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 247 + INFO | >> # successes: 242 (98.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [07:47<00:29, 9.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=248--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:25:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 248 + INFO | >> # successes: 243 (98.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [07:57<00:19, 9.83s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=249--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:26:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 249 + INFO | >> # successes: 244 (98.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [08:06<00:09, 9.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + left plate and put the yellow + and white mug on the right + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=250--success=True--task=put_the_white_mug_on_the_left_plate_and_put_the_ye.mp4 +09/11 [09:26:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 250 + INFO | >> # successes: 245 (98.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [08:17<00:00, 10.02s/it] 100%|██████████| 50/50 [08:17<00:00, 9.95s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.98 + 50%|█████ | 5/10 [46:27<44:24, 532.94s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=251--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:26:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 251 + INFO | >> # successes: 246 (98.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<05:54, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=252--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:26:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 252 + INFO | >> # successes: 247 (98.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:52, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=253--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:26:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 253 + INFO | >> # successes: 248 (98.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:21<05:26, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=254--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:26:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 254 + INFO | >> # successes: 249 (98.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:28<05:24, 7.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=255--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:26:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 255 + INFO | >> # successes: 250 (98.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:34<05:08, 6.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=256--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:27:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 256 + INFO | >> # successes: 251 (98.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:41<05:00, 6.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=257--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:27:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 257 + INFO | >> # successes: 252 (98.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:48<05:01, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=258--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:27:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 258 + INFO | >> # successes: 253 (98.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:56<04:59, 7.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=259--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:27:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 259 + INFO | >> # successes: 254 (98.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:02<04:39, 6.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=260--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:27:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 260 + INFO | >> # successes: 255 (98.1%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:09<04:30, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=261--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:27:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 261 + INFO | >> # successes: 256 (98.1%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:16<04:28, 6.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=262--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:27:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 262 + INFO | >> # successes: 257 (98.1%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:23<04:19, 6.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=263--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:27:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 263 + INFO | >> # successes: 258 (98.1%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:30<04:16, 6.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=264--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:27:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 264 + INFO | >> # successes: 259 (98.1%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:37<04:08, 6.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=265--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:28:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 265 + INFO | >> # successes: 260 (98.1%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:44<04:09, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=266--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:28:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 266 + INFO | >> # successes: 261 (98.1%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:51<03:58, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=267--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:28:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 267 + INFO | >> # successes: 262 (98.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:58<03:49, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=268--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:28:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 268 + INFO | >> # successes: 263 (98.1%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:05<03:42, 6.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=269--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:28:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 269 + INFO | >> # successes: 264 (98.1%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:11<03:33, 6.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=270--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:28:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 270 + INFO | >> # successes: 265 (98.1%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:19<03:36, 7.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=271--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:28:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 271 + INFO | >> # successes: 266 (98.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:27<03:33, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=272--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:28:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 272 + INFO | >> # successes: 267 (98.2%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:34<03:25, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=273--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:29:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 273 + INFO | >> # successes: 268 (98.2%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:41<03:14, 7.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=274--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:29:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 274 + INFO | >> # successes: 269 (98.2%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:48<03:07, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=275--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:29:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 275 + INFO | >> # successes: 270 (98.2%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:55<02:58, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=276--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:29:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 276 + INFO | >> # successes: 271 (98.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:03<02:50, 7.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=277--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:29:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 277 + INFO | >> # successes: 272 (98.2%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:09<02:38, 6.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=278--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:29:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 278 + INFO | >> # successes: 273 (98.2%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:17<02:38, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=279--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:29:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 279 + INFO | >> # successes: 274 (98.2%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:23<02:26, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=280--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:29:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 280 + INFO | >> # successes: 275 (98.2%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:30<02:17, 6.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=281--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:29:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 281 + INFO | >> # successes: 276 (98.2%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:37<02:10, 6.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=282--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:30:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 282 + INFO | >> # successes: 277 (98.2%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:45<02:09, 7.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=283--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:30:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 283 + INFO | >> # successes: 278 (98.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:53<02:05, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=284--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:30:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 284 + INFO | >> # successes: 279 (98.2%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:59<01:55, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=285--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:30:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 285 + INFO | >> # successes: 280 (98.2%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:07<01:51, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=286--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:30:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 286 + INFO | >> # successes: 281 (98.3%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:15<01:44, 7.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=287--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:30:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 287 + INFO | >> # successes: 282 (98.3%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:23<01:38, 7.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=288--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:30:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 288 + INFO | >> # successes: 283 (98.3%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:30<01:28, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=289--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:30:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 289 + INFO | >> # successes: 284 (98.3%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:37<01:19, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=290--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:31:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 290 + INFO | >> # successes: 285 (98.3%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:43<01:10, 7.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=291--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:31:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 291 + INFO | >> # successes: 286 (98.3%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:50<01:02, 6.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=292--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:31:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 292 + INFO | >> # successes: 287 (98.3%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:57<00:56, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=293--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:31:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 293 + INFO | >> # successes: 288 (98.3%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:04<00:48, 6.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=294--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:31:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 294 + INFO | >> # successes: 289 (98.3%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:10<00:40, 6.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=295--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:31:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 295 + INFO | >> # successes: 290 (98.3%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:17<00:34, 6.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=296--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:31:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 296 + INFO | >> # successes: 291 (98.3%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:25<00:27, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=297--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:31:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 297 + INFO | >> # successes: 292 (98.3%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:31<00:20, 6.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=298--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:31:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 298 + INFO | >> # successes: 293 (98.3%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:38<00:13, 6.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=299--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:32:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 299 + INFO | >> # successes: 294 (98.3%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:45<00:06, 6.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the book and + place it in the back + compartment of the caddy + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=300--success=True--task=pick_up_the_book_and_place_it_in_the_back_compartm.mp4 +09/11 [09:32:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 300 + INFO | >> # successes: 295 (98.3%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:53<00:00, 7.30s/it] 100%|██████████| 50/50 [05:53<00:00, 7.07s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9833333333333333 + 60%|██████ | 6/10 [52:23<31:30, 472.55s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=301--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:32:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 301 + INFO | >> # successes: 296 (98.3%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:08<07:18, 8.95s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=302--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:32:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 302 + INFO | >> # successes: 297 (98.3%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:18<07:15, 9.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=303--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:32:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 303 + INFO | >> # successes: 298 (98.3%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:26<06:59, 8.92s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=304--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:32:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 304 + INFO | >> # successes: 299 (98.4%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:35<06:46, 8.85s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=305--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:33:09] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 305 + INFO | >> # successes: 299 (98.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:54<09:19, 12.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=306--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:33:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 306 + INFO | >> # successes: 300 (98.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:01<07:49, 10.68s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=307--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:33:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 307 + INFO | >> # successes: 301 (98.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:09<06:56, 9.68s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=308--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:33:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 308 + INFO | >> # successes: 302 (98.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:16<06:17, 9.00s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=309--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:33:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 309 + INFO | >> # successes: 303 (98.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:23<05:42, 8.35s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=310--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:33:55] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 310 + INFO | >> # successes: 303 (97.7%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:39<07:05, 10.64s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=311--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:34:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 311 + INFO | >> # successes: 304 (97.7%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:46<06:13, 9.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=312--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:34:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 312 + INFO | >> # successes: 305 (97.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:54<05:46, 9.12s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=313--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:34:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 313 + INFO | >> # successes: 306 (97.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:03<05:36, 9.08s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=314--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:34:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 314 + INFO | >> # successes: 307 (97.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:15<05:51, 9.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=315--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:34:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 315 + INFO | >> # successes: 308 (97.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:25<05:52, 10.06s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=316--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:34:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 316 + INFO | >> # successes: 309 (97.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:34<05:29, 9.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=317--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:34:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 317 + INFO | >> # successes: 310 (97.8%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:44<05:17, 9.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=318--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:35:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 318 + INFO | >> # successes: 311 (97.8%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:52<04:57, 9.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=319--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:35:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 319 + INFO | >> # successes: 312 (97.8%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:02<04:51, 9.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=320--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:35:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 320 + INFO | >> # successes: 313 (97.8%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:11<04:38, 9.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=321--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:35:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 321 + INFO | >> # successes: 314 (97.8%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [03:20<04:29, 9.29s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=322--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:35:55] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 322 + INFO | >> # successes: 314 (97.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [03:39<05:41, 12.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=323--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:36:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 323 + INFO | >> # successes: 315 (97.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:50<05:15, 11.68s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=324--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:36:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 324 + INFO | >> # successes: 316 (97.5%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:02<05:07, 11.83s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=325--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:36:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 325 + INFO | >> # successes: 317 (97.5%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:11<04:36, 11.06s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=326--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:36:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 326 + INFO | >> # successes: 318 (97.5%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [04:23<04:32, 11.36s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=327--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:36:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 327 + INFO | >> # successes: 319 (97.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [04:32<04:07, 10.76s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=328--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:36:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 328 + INFO | >> # successes: 320 (97.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [04:42<03:46, 10.31s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=329--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:37:16] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 329 + INFO | >> # successes: 320 (97.3%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:01<04:30, 12.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=330--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:37:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 330 + INFO | >> # successes: 321 (97.3%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:12<04:10, 12.50s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=331--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:37:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 331 + INFO | >> # successes: 322 (97.3%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:24<03:55, 12.38s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=332--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:37:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 332 + INFO | >> # successes: 323 (97.3%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [05:34<03:26, 11.50s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=333--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:37:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 333 + INFO | >> # successes: 324 (97.3%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [05:43<03:01, 10.70s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=334--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:38:18] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 334 + INFO | >> # successes: 324 (97.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:02<03:32, 13.30s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=335--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:38:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 335 + INFO | >> # successes: 325 (97.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [06:11<03:00, 12.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=336--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:38:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 336 + INFO | >> # successes: 326 (97.0%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [06:22<02:44, 11.72s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=337--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:38:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 337 + INFO | >> # successes: 327 (97.0%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [06:31<02:22, 10.94s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=338--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:38:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 338 + INFO | >> # successes: 328 (97.0%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [06:42<02:09, 10.82s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=339--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:39:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 339 + INFO | >> # successes: 329 (97.1%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [06:51<01:52, 10.24s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=340--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:39:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 340 + INFO | >> # successes: 330 (97.1%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [06:59<01:37, 9.78s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=341--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:39:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 341 + INFO | >> # successes: 331 (97.1%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [07:08<01:25, 9.55s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=342--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:39:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 342 + INFO | >> # successes: 332 (97.1%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [07:17<01:15, 9.39s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=343--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:39:52] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 343 + INFO | >> # successes: 332 (96.8%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [07:37<01:26, 12.36s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=344--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:40:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 344 + INFO | >> # successes: 333 (96.8%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [07:47<01:10, 11.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=345--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:40:21] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 345 + INFO | >> # successes: 333 (96.5%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [08:06<01:09, 13.89s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=346--success=False--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:40:40] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 346 + INFO | >> # successes: 333 (96.2%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [08:25<01:01, 15.43s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=347--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:40:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 347 + INFO | >> # successes: 334 (96.3%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [08:35<00:41, 13.79s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=348--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:40:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 348 + INFO | >> # successes: 335 (96.3%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [08:44<00:24, 12.27s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=349--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:41:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 349 + INFO | >> # successes: 336 (96.3%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [08:52<00:11, 11.26s/it] INFO | >> run_libero_eval.py:226 + Task: put the white mug on the + plate and put the chocolate + pudding to the right of the + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=350--success=True--task=put_the_white_mug_on_the_plate_and_put_the_chocola.mp4 +09/11 [09:41:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 350 + INFO | >> # successes: 337 (96.3%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [09:01<00:00, 10.44s/it] 100%|██████████| 50/50 [09:01<00:00, 10.83s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.84 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9628571428571429 + 70%|███████ | 7/10 [1:01:26<24:46, 495.51s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=351--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:41:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 351 + INFO | >> # successes: 338 (96.3%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:11<09:05, 11.14s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=352--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:41:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 352 + INFO | >> # successes: 339 (96.3%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:21<08:32, 10.67s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=353--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:41:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 353 + INFO | >> # successes: 340 (96.3%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:31<08:15, 10.53s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=354--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:42:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 354 + INFO | >> # successes: 341 (96.3%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:42<08:02, 10.50s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=355--success=False--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:42:20] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 355 + INFO | >> # successes: 341 (96.1%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:01<10:21, 13.80s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=356--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:42:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 356 + INFO | >> # successes: 342 (96.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:12<09:20, 12.73s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=357--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:42:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 357 + INFO | >> # successes: 343 (96.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:24<08:53, 12.40s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=358--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:42:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 358 + INFO | >> # successes: 344 (96.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:34<08:11, 11.71s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=359--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:43:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 359 + INFO | >> # successes: 345 (96.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:45<07:50, 11.47s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=360--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:43:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 360 + INFO | >> # successes: 346 (96.1%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:55<07:25, 11.14s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=361--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:43:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 361 + INFO | >> # successes: 347 (96.1%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [02:07<07:20, 11.29s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=362--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:43:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 362 + INFO | >> # successes: 348 (96.1%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:17<06:56, 10.97s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=363--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:43:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 363 + INFO | >> # successes: 349 (96.1%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:27<06:35, 10.70s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=364--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:43:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 364 + INFO | >> # successes: 350 (96.2%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:37<06:11, 10.31s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=365--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:44:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 365 + INFO | >> # successes: 351 (96.2%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:48<06:06, 10.46s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=366--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:44:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 366 + INFO | >> # successes: 352 (96.2%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:58<05:52, 10.37s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=367--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:44:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 367 + INFO | >> # successes: 353 (96.2%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [03:08<05:40, 10.31s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=368--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:44:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 368 + INFO | >> # successes: 354 (96.2%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:17<05:23, 10.10s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=369--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:44:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 369 + INFO | >> # successes: 355 (96.2%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:28<05:19, 10.31s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=370--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:44:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 370 + INFO | >> # successes: 356 (96.2%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:38<05:05, 10.17s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=371--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:45:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 371 + INFO | >> # successes: 357 (96.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [03:49<04:57, 10.25s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=372--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:45:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 372 + INFO | >> # successes: 358 (96.2%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [03:59<04:48, 10.30s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=373--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:45:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 373 + INFO | >> # successes: 359 (96.2%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:09<04:38, 10.31s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=374--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:45:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 374 + INFO | >> # successes: 360 (96.3%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:20<04:28, 10.35s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=375--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:45:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 375 + INFO | >> # successes: 361 (96.3%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:30<04:19, 10.37s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=376--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:45:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 376 + INFO | >> # successes: 362 (96.3%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [04:40<04:07, 10.31s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=377--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:46:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 377 + INFO | >> # successes: 363 (96.3%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [04:50<03:52, 10.11s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=378--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:46:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 378 + INFO | >> # successes: 364 (96.3%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [05:01<03:50, 10.50s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=379--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:46:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 379 + INFO | >> # successes: 365 (96.3%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:13<03:46, 10.76s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=380--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:46:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 380 + INFO | >> # successes: 366 (96.3%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:24<03:38, 10.94s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=381--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:46:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 381 + INFO | >> # successes: 367 (96.3%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:34<03:24, 10.76s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=382--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:47:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 382 + INFO | >> # successes: 368 (96.3%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [05:46<03:15, 10.89s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=383--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:47:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 383 + INFO | >> # successes: 369 (96.3%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [05:56<03:04, 10.85s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=384--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:47:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 384 + INFO | >> # successes: 370 (96.4%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:07<02:50, 10.66s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=385--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:47:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 385 + INFO | >> # successes: 371 (96.4%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [06:17<02:39, 10.63s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=386--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:47:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 386 + INFO | >> # successes: 372 (96.4%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [06:28<02:28, 10.64s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=387--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:47:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 387 + INFO | >> # successes: 373 (96.4%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [06:38<02:17, 10.58s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=388--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:48:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 388 + INFO | >> # successes: 374 (96.4%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [06:49<02:06, 10.52s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=389--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:48:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 389 + INFO | >> # successes: 375 (96.4%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [06:59<01:55, 10.49s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=390--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:48:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 390 + INFO | >> # successes: 376 (96.4%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [07:08<01:41, 10.11s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=391--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:48:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 391 + INFO | >> # successes: 377 (96.4%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [07:19<01:31, 10.15s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=392--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:48:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 392 + INFO | >> # successes: 378 (96.4%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [07:28<01:20, 10.04s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=393--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:48:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 393 + INFO | >> # successes: 379 (96.4%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [07:40<01:13, 10.50s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=394--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:49:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 394 + INFO | >> # successes: 380 (96.4%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [07:50<01:02, 10.40s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=395--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:49:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 395 + INFO | >> # successes: 381 (96.5%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [08:00<00:51, 10.36s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=396--success=False--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:49:38] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 396 + INFO | >> # successes: 381 (96.2%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [08:19<00:51, 12.91s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=397--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:49:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 397 + INFO | >> # successes: 382 (96.2%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [08:30<00:36, 12.33s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=398--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:50:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 398 + INFO | >> # successes: 383 (96.2%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [08:44<00:25, 12.86s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=399--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:50:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 399 + INFO | >> # successes: 384 (96.2%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [08:54<00:11, 11.99s/it] INFO | >> run_libero_eval.py:226 + Task: put both the alphabet + soup and the cream cheese box + in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=400--success=True--task=put_both_the_alphabet_soup_and_the_cream_cheese_bo.mp4 +09/11 [09:50:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 400 + INFO | >> # successes: 385 (96.2%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [09:04<00:00, 11.41s/it] 100%|██████████| 50/50 [09:04<00:00, 10.90s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9625 + 80%|████████ | 8/10 [1:10:32<17:03, 511.64s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=401--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:50:44] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 401 + INFO | >> # successes: 385 (96.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:20<16:30, 20.21s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=402--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:51:05] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 402 + INFO | >> # successes: 385 (95.8%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:40<16:24, 20.51s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=403--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:51:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 403 + INFO | >> # successes: 386 (95.8%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:56<14:23, 18.37s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=404--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:51:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 404 + INFO | >> # successes: 387 (95.8%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [01:14<13:58, 18.22s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=405--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:51:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 405 + INFO | >> # successes: 388 (95.8%) run_libero_eval.py:226 + + 10%|█ | 5/50 [01:31<13:16, 17.71s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=406--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:52:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 406 + INFO | >> # successes: 389 (95.8%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:48<12:45, 17.40s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=407--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:52:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 407 + INFO | >> # successes: 390 (95.8%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [02:05<12:20, 17.22s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=408--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:52:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 408 + INFO | >> # successes: 391 (95.8%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [02:21<11:44, 16.78s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=409--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:53:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 409 + INFO | >> # successes: 392 (95.8%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [02:38<11:40, 17.08s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=410--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:53:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 410 + INFO | >> # successes: 393 (95.9%) run_libero_eval.py:226 + + 20%|██ | 10/50 [02:54<11:10, 16.77s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=411--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:53:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 411 + INFO | >> # successes: 394 (95.9%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [03:10<10:35, 16.29s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=412--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:53:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 412 + INFO | >> # successes: 395 (95.9%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [03:27<10:28, 16.53s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=413--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:54:12] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 413 + INFO | >> # successes: 395 (95.6%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [03:47<10:59, 17.81s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=414--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:54:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 414 + INFO | >> # successes: 396 (95.7%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [04:03<10:12, 17.02s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=415--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:54:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 415 + INFO | >> # successes: 397 (95.7%) run_libero_eval.py:226 + + 30%|███ | 15/50 [04:18<09:40, 16.58s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=416--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:54:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 416 + INFO | >> # successes: 398 (95.7%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [04:32<09:00, 15.90s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=417--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:55:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 417 + INFO | >> # successes: 399 (95.7%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [04:48<08:41, 15.82s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=418--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:55:33] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 418 + INFO | >> # successes: 399 (95.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [05:08<09:10, 17.19s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=419--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:55:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 419 + INFO | >> # successes: 400 (95.5%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [05:25<08:46, 17.00s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=420--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:56:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 420 + INFO | >> # successes: 401 (95.5%) run_libero_eval.py:226 + + 40%|████ | 20/50 [05:40<08:16, 16.53s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=421--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:56:25] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 421 + INFO | >> # successes: 401 (95.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [06:01<08:30, 17.61s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=422--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:56:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 422 + INFO | >> # successes: 402 (95.3%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [06:16<07:53, 16.92s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=423--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:56:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 423 + INFO | >> # successes: 403 (95.3%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [06:33<07:41, 17.08s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=424--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:57:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 424 + INFO | >> # successes: 404 (95.3%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [06:50<07:23, 17.08s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=425--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:57:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 425 + INFO | >> # successes: 405 (95.3%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [07:06<06:59, 16.76s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=426--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:57:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 426 + INFO | >> # successes: 406 (95.3%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [07:22<06:36, 16.53s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=427--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:58:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 427 + INFO | >> # successes: 407 (95.3%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [07:39<06:23, 16.66s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=428--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:58:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 428 + INFO | >> # successes: 408 (95.3%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [07:55<05:58, 16.31s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=429--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:58:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 429 + INFO | >> # successes: 409 (95.3%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [08:11<05:39, 16.19s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=430--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:58:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 430 + INFO | >> # successes: 410 (95.3%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [08:28<05:31, 16.58s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=431--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:59:13] INFO | >> Success: False run_libero_eval.py:226 +09/11 [09:59:14] INFO | >> # episodes completed so run_libero_eval.py:226 + far: 431 + INFO | >> # successes: 410 (95.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [08:49<05:37, 17.75s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=432--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:59:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 432 + INFO | >> # successes: 411 (95.1%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [09:04<05:04, 16.92s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=433--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [09:59:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 433 + INFO | >> # successes: 412 (95.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [09:21<04:49, 17.02s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=434--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:00:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 434 + INFO | >> # successes: 413 (95.2%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [09:36<04:22, 16.44s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=435--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:00:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 435 + INFO | >> # successes: 414 (95.2%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [09:51<03:58, 15.93s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=436--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:00:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 436 + INFO | >> # successes: 415 (95.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [10:08<03:48, 16.31s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=437--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:00:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 437 + INFO | >> # successes: 416 (95.2%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [10:26<03:38, 16.78s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=438--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:01:11] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 438 + INFO | >> # successes: 416 (95.0%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [10:46<03:34, 17.86s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=439--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:01:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 439 + INFO | >> # successes: 417 (95.0%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [11:01<03:07, 17.03s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=440--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:01:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 440 + INFO | >> # successes: 418 (95.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [11:20<02:54, 17.40s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=441--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:02:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 441 + INFO | >> # successes: 419 (95.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [11:36<02:32, 16.98s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=442--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:02:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 442 + INFO | >> # successes: 420 (95.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [11:53<02:17, 17.22s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=443--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:02:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 443 + INFO | >> # successes: 421 (95.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [12:11<02:01, 17.37s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=444--success=False--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:02:57] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 444 + INFO | >> # successes: 421 (94.8%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [12:33<01:51, 18.60s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=445--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:03:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 445 + INFO | >> # successes: 422 (94.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [12:50<01:31, 18.37s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=446--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:03:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 446 + INFO | >> # successes: 423 (94.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [13:06<01:09, 17.40s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=447--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:03:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 447 + INFO | >> # successes: 424 (94.9%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [13:21<00:50, 16.80s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=448--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:04:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 448 + INFO | >> # successes: 425 (94.9%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [13:39<00:34, 17.01s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=449--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:04:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 449 + INFO | >> # successes: 426 (94.9%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [13:55<00:16, 16.87s/it] INFO | >> run_libero_eval.py:226 + Task: put both moka pots on the + stove + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=450--success=True--task=put_both_moka_pots_on_the_stove.mp4 +09/11 [10:04:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 450 + INFO | >> # successes: 427 (94.9%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [14:10<00:00, 16.22s/it] 100%|██████████| 50/50 [14:10<00:00, 17.01s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.84 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9488888888888889 + 90%|█████████ | 9/10 [1:24:43<10:17, 617.97s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=451--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:04:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 451 + INFO | >> # successes: 428 (94.9%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:09<08:06, 9.92s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=452--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:04:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 452 + INFO | >> # successes: 429 (94.9%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:19<08:00, 10.00s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=453--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:05:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 453 + INFO | >> # successes: 430 (94.9%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:30<07:56, 10.14s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=454--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:05:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 454 + INFO | >> # successes: 431 (94.9%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:40<07:48, 10.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=455--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:05:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 455 + INFO | >> # successes: 432 (94.9%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:52<08:10, 10.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=456--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:05:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 456 + INFO | >> # successes: 433 (95.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [01:03<07:55, 10.80s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=457--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:05:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 457 + INFO | >> # successes: 434 (95.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:13<07:32, 10.52s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=458--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:06:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 458 + INFO | >> # successes: 435 (95.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:23<07:22, 10.52s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=459--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:06:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 459 + INFO | >> # successes: 436 (95.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:35<07:21, 10.77s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=460--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:06:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 460 + INFO | >> # successes: 437 (95.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:45<07:02, 10.56s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=461--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:06:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 461 + INFO | >> # successes: 438 (95.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:55<06:50, 10.53s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=462--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:06:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 462 + INFO | >> # successes: 439 (95.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [02:06<06:39, 10.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=463--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:06:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 463 + INFO | >> # successes: 440 (95.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:16<06:31, 10.57s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=464--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:07:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 464 + INFO | >> # successes: 441 (95.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:27<06:18, 10.51s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=465--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:07:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 465 + INFO | >> # successes: 442 (95.1%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:37<06:04, 10.40s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=466--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:07:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 466 + INFO | >> # successes: 443 (95.1%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:46<05:44, 10.13s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=467--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:07:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 467 + INFO | >> # successes: 444 (95.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:56<05:31, 10.06s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=468--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:07:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 468 + INFO | >> # successes: 445 (95.1%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:07<05:26, 10.19s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=469--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:07:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 469 + INFO | >> # successes: 446 (95.1%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:17<05:20, 10.33s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=470--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:08:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 470 + INFO | >> # successes: 447 (95.1%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:29<05:18, 10.61s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=471--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:08:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 471 + INFO | >> # successes: 448 (95.1%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [03:39<05:05, 10.54s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=472--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:08:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 472 + INFO | >> # successes: 449 (95.1%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [03:49<04:49, 10.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=473--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:08:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 473 + INFO | >> # successes: 450 (95.1%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [04:01<04:56, 10.98s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=474--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:08:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 474 + INFO | >> # successes: 451 (95.1%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:13<04:51, 11.21s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=475--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:09:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 475 + INFO | >> # successes: 452 (95.2%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:23<04:32, 10.88s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=476--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:09:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 476 + INFO | >> # successes: 453 (95.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [04:34<04:19, 10.80s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=477--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:09:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 477 + INFO | >> # successes: 454 (95.2%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [04:44<04:06, 10.71s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=478--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:09:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 478 + INFO | >> # successes: 455 (95.2%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [04:55<03:56, 10.74s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=479--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:09:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 479 + INFO | >> # successes: 456 (95.2%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [05:05<03:42, 10.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=480--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:09:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 480 + INFO | >> # successes: 457 (95.2%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [05:16<03:31, 10.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=481--success=False--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:10:12] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 481 + INFO | >> # successes: 457 (95.0%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:35<04:09, 13.15s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=482--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:10:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 482 + INFO | >> # successes: 458 (95.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [05:46<03:42, 12.34s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=483--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:10:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 483 + INFO | >> # successes: 459 (95.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [05:56<03:17, 11.62s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=484--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:10:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 484 + INFO | >> # successes: 460 (95.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [06:05<02:56, 11.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=485--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:10:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 485 + INFO | >> # successes: 461 (95.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [06:16<02:45, 11.03s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=486--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:11:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 486 + INFO | >> # successes: 462 (95.1%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [06:27<02:32, 10.90s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=487--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:11:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 487 + INFO | >> # successes: 463 (95.1%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [06:38<02:23, 11.02s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=488--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:11:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 488 + INFO | >> # successes: 464 (95.1%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [06:49<02:11, 10.98s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=489--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:11:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 489 + INFO | >> # successes: 465 (95.1%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [06:59<01:59, 10.82s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=490--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:11:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 490 + INFO | >> # successes: 466 (95.1%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [07:10<01:46, 10.65s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=491--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:11:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 491 + INFO | >> # successes: 467 (95.1%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [07:20<01:35, 10.56s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=492--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:12:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 492 + INFO | >> # successes: 468 (95.1%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [07:31<01:25, 10.71s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=493--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:12:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 493 + INFO | >> # successes: 469 (95.1%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [07:41<01:14, 10.59s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=494--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:12:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 494 + INFO | >> # successes: 470 (95.1%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [07:52<01:02, 10.49s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=495--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:12:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 495 + INFO | >> # successes: 471 (95.2%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [08:03<00:53, 10.76s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=496--success=False--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:12:59] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 496 + INFO | >> # successes: 471 (95.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [08:22<00:53, 13.35s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=497--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:13:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 497 + INFO | >> # successes: 472 (95.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [08:33<00:37, 12.60s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=498--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:13:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 498 + INFO | >> # successes: 473 (95.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [08:45<00:24, 12.23s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=499--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:13:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 499 + INFO | >> # successes: 474 (95.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [08:55<00:11, 11.73s/it] INFO | >> run_libero_eval.py:226 + Task: put the yellow and white + mug in the microwave and close + it + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_11/2025_09_11-08_39_44--episode=500--success=True--task=put_the_yellow_and_white_mug_in_the_microwave_and_.mp4 +09/11 [10:13:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 500 + INFO | >> # successes: 475 (95.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [09:05<00:00, 11.28s/it] 100%|██████████| 50/50 [09:05<00:00, 10.92s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.95 + 100%|██████████| 10/10 [1:33:51<00:00, 596.25s/it] 100%|██████████| 10/10 [1:33:51<00:00, 563.16s/it] + INFO | >> Final results: run_libero_eval.py:226 + INFO | >> Total episodes: 500 run_libero_eval.py:226 + INFO | >> Total successes: 475 run_libero_eval.py:226 + INFO | >> Overall success rate: run_libero_eval.py:226 + 0.9500 (95.0%) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__ + self.gl_ctx.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__ + self.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) diff --git a/VLA-Adapter-UAV/eval_logs/Inference-Object--99.2.log b/VLA-Adapter-UAV/eval_logs/Inference-Object--99.2.log new file mode 100644 index 0000000000000000000000000000000000000000..d35909b12ecd71ade27c6d7c7610bada808353d6 --- /dev/null +++ b/VLA-Adapter-UAV/eval_logs/Inference-Object--99.2.log @@ -0,0 +1,7271 @@ +2025-08-30 16:42:58.034678: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`. +2025-08-30 16:42:58.071007: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2025-08-30 16:42:58.071074: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2025-08-30 16:42:58.072208: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2025-08-30 16:42:58.077616: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 AVX_VNNI AMX_TILE AMX_INT8 AMX_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2025-08-30 16:42:58.747820: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +[robosuite WARNING] No private macro file found! (macros.py:53) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:54) +[robosuite WARNING] To setup, run: python /ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:55) +2025-08-30 16:43:01.699974: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2348] TensorFlow was not built with CUDA kernel binaries compatible with compute capability 9.0. CUDA kernels will be jit-compiled from PTX, which could take 30 minutes or longer. +Using LIBERO constants: + NUM_ACTIONS_CHUNK = 8 + ACTION_DIM = 7 + PROPRIO_DIM = 8 + ACTION_PROPRIO_NORMALIZATION_TYPE = bounds_q99 +If needed, manually set the correct constants in `prismatic/vla/constants.py`! +Instantiating pretrained VLA policy... + + +Loaded model: +08/30 [16:43:22] INFO | >> Logging to local log file: run_libero_eval.py:211 + ./experiments/logs/EVAL-libero_ + object-openvla-2025_08_30-16_43 + _13.txt +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] + INFO | >> Task suite: libero_object run_libero_eval.py:226 + 0%| | 0/10 [00:00> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=1--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:43:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 1 + INFO | >> # successes: 1 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:27, 6.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=2--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:43:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 2 + INFO | >> # successes: 2 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:15<06:15, 7.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=3--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:43:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 3 + INFO | >> # successes: 3 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:22<05:45, 7.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=4--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:43:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 4 + INFO | >> # successes: 4 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:29<05:31, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=5--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:44:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 5 + INFO | >> # successes: 5 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:37<05:41, 7.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=6--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:44:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 6 + INFO | >> # successes: 6 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:44<05:27, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=7--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:44:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 7 + INFO | >> # successes: 7 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:51<05:10, 7.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=8--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:44:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 8 + INFO | >> # successes: 8 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:58<04:58, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=9--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:44:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 9 + INFO | >> # successes: 9 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:04<04:43, 6.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=10--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:44:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 10 + INFO | >> # successes: 10 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:11<04:38, 6.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=11--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:44:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 11 + INFO | >> # successes: 11 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:18<04:33, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=12--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:44:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 12 + INFO | >> # successes: 12 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:25<04:19, 6.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=13--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:44:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 13 + INFO | >> # successes: 13 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:32<04:13, 6.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=14--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:45:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 14 + INFO | >> # successes: 14 (100.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:39<04:06, 6.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=15--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:45:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 15 + INFO | >> # successes: 15 (100.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:46<04:04, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=16--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:45:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 16 + INFO | >> # successes: 16 (100.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:53<03:55, 6.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=17--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:45:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 17 + INFO | >> # successes: 17 (100.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:00<03:52, 7.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=18--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:45:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 18 + INFO | >> # successes: 18 (100.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:07<03:45, 7.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=19--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:45:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 19 + INFO | >> # successes: 19 (100.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:14<03:35, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=20--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:45:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 20 + INFO | >> # successes: 20 (100.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:20<03:26, 6.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=21--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:45:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 21 + INFO | >> # successes: 21 (100.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:26<03:07, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=22--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:45:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 22 + INFO | >> # successes: 22 (100.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:32<02:53, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=23--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:46:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 23 + INFO | >> # successes: 23 (100.0%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:37<02:43, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=24--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:46:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 24 + INFO | >> # successes: 24 (100.0%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:42<02:31, 5.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=25--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:46:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 25 + INFO | >> # successes: 25 (100.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:48<02:25, 5.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=26--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:46:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 26 + INFO | >> # successes: 26 (100.0%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:54<02:21, 5.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=27--success=False--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:46:31] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 27 + INFO | >> # successes: 26 (96.3%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:05<02:48, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=28--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:46:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 28 + INFO | >> # successes: 27 (96.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:11<02:35, 7.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=29--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:46:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 29 + INFO | >> # successes: 28 (96.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:17<02:17, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=30--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:46:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 30 + INFO | >> # successes: 29 (96.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:24<02:12, 6.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=31--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:46:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 31 + INFO | >> # successes: 30 (96.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:32<02:15, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=32--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:47:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 32 + INFO | >> # successes: 31 (96.9%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:38<02:02, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=33--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:47:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 33 + INFO | >> # successes: 32 (97.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:45<01:55, 6.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=34--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:47:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 34 + INFO | >> # successes: 33 (97.1%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:53<01:54, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=35--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:47:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 35 + INFO | >> # successes: 34 (97.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:00<01:48, 7.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=36--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:47:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 36 + INFO | >> # successes: 35 (97.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:07<01:40, 7.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=37--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:47:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 37 + INFO | >> # successes: 36 (97.3%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:14<01:31, 7.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=38--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:47:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 38 + INFO | >> # successes: 37 (97.4%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:21<01:24, 7.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=39--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:47:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 39 + INFO | >> # successes: 38 (97.4%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:28<01:17, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=40--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:48:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 40 + INFO | >> # successes: 39 (97.5%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:35<01:10, 7.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=41--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:48:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 41 + INFO | >> # successes: 40 (97.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:41<01:01, 6.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=42--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:48:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 42 + INFO | >> # successes: 41 (97.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:49<00:55, 6.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=43--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:48:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 43 + INFO | >> # successes: 42 (97.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:55<00:47, 6.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=44--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:48:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 44 + INFO | >> # successes: 43 (97.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:03<00:42, 7.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=45--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:48:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 45 + INFO | >> # successes: 44 (97.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:10<00:35, 7.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=46--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:48:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 46 + INFO | >> # successes: 45 (97.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:16<00:27, 6.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=47--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:48:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 47 + INFO | >> # successes: 46 (97.9%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:23<00:20, 6.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=48--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:48:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 48 + INFO | >> # successes: 47 (97.9%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:29<00:13, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=49--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:49:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 49 + INFO | >> # successes: 48 (98.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:36<00:06, 6.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the alphabet soup + and place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=50--success=True--task=pick_up_the_alphabet_soup_and_place_it_in_the_bask.mp4 +08/30 [16:49:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 50 + INFO | >> # successes: 49 (98.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:43<00:00, 6.79s/it] 100%|██████████| 50/50 [05:43<00:00, 6.87s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.98 + 10%|█ | 1/10 [05:46<52:02, 346.89s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=51--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:49:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 51 + INFO | >> # successes: 50 (98.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<04:54, 6.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=52--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:49:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 52 + INFO | >> # successes: 51 (98.1%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:12<04:58, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=53--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:49:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 53 + INFO | >> # successes: 52 (98.1%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:18<04:51, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=54--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:49:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 54 + INFO | >> # successes: 53 (98.1%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:24<04:48, 6.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=55--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:49:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 55 + INFO | >> # successes: 54 (98.2%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:32<05:02, 6.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=56--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:49:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 56 + INFO | >> # successes: 55 (98.2%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:39<05:01, 6.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=57--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:49:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 57 + INFO | >> # successes: 56 (98.2%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:45<04:48, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=58--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:50:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 58 + INFO | >> # successes: 57 (98.3%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:52<04:35, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=59--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:50:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 59 + INFO | >> # successes: 58 (98.3%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:58<04:26, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=60--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:50:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 60 + INFO | >> # successes: 59 (98.3%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:04<04:19, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=61--success=False--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:50:29] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 61 + INFO | >> # successes: 59 (96.7%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:18<05:35, 8.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=62--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:50:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 62 + INFO | >> # successes: 60 (96.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:29<05:53, 9.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=63--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:50:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 63 + INFO | >> # successes: 61 (96.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:36<05:19, 8.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=64--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:50:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 64 + INFO | >> # successes: 62 (96.9%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:43<04:53, 8.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=65--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:51:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 65 + INFO | >> # successes: 63 (96.9%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:51<04:39, 7.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=66--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:51:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 66 + INFO | >> # successes: 64 (97.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:58<04:22, 7.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=67--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:51:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 67 + INFO | >> # successes: 65 (97.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:04<04:04, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=68--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:51:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 68 + INFO | >> # successes: 66 (97.1%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:11<03:49, 7.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=69--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:51:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 69 + INFO | >> # successes: 67 (97.1%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:19<03:52, 7.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=70--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:51:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 70 + INFO | >> # successes: 68 (97.1%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:28<03:57, 7.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=71--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:51:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 71 + INFO | >> # successes: 69 (97.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:35<03:36, 7.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=72--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:51:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 72 + INFO | >> # successes: 70 (97.2%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:41<03:20, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=73--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:51:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 73 + INFO | >> # successes: 71 (97.3%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:47<03:07, 6.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=74--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:52:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 74 + INFO | >> # successes: 72 (97.3%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:54<02:57, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=75--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:52:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 75 + INFO | >> # successes: 73 (97.3%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:00<02:46, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=76--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:52:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 76 + INFO | >> # successes: 74 (97.4%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:07<02:40, 6.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=77--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:52:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 77 + INFO | >> # successes: 75 (97.4%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:13<02:30, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=78--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:52:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 78 + INFO | >> # successes: 76 (97.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:20<02:24, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=79--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:52:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 79 + INFO | >> # successes: 77 (97.5%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:28<02:27, 7.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=80--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:52:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 80 + INFO | >> # successes: 78 (97.5%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:33<02:09, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=81--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:52:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 81 + INFO | >> # successes: 79 (97.5%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:39<01:57, 6.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=82--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:52:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 82 + INFO | >> # successes: 80 (97.6%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:44<01:47, 5.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=83--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 83 + INFO | >> # successes: 81 (97.6%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:50<01:39, 5.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=84--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 84 + INFO | >> # successes: 82 (97.6%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:55<01:32, 5.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=85--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 85 + INFO | >> # successes: 83 (97.6%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:01<01:25, 5.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=86--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 86 + INFO | >> # successes: 84 (97.7%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:06<01:18, 5.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=87--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 87 + INFO | >> # successes: 85 (97.7%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:12<01:13, 5.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=88--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 88 + INFO | >> # successes: 86 (97.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:17<01:06, 5.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=89--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 89 + INFO | >> # successes: 87 (97.8%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:22<00:59, 5.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=90--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 90 + INFO | >> # successes: 88 (97.8%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:28<00:53, 5.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=91--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 91 + INFO | >> # successes: 89 (97.8%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:33<00:47, 5.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=92--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 92 + INFO | >> # successes: 90 (97.8%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:38<00:42, 5.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=93--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:53:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 93 + INFO | >> # successes: 91 (97.8%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:44<00:37, 5.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=94--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:54:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 94 + INFO | >> # successes: 92 (97.9%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:49<00:32, 5.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=95--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:54:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 95 + INFO | >> # successes: 93 (97.9%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:56<00:29, 5.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=96--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:54:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 96 + INFO | >> # successes: 94 (97.9%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:02<00:24, 6.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=97--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:54:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 97 + INFO | >> # successes: 95 (97.9%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:09<00:18, 6.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=98--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:54:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 98 + INFO | >> # successes: 96 (98.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:15<00:12, 6.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=99--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:54:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 99 + INFO | >> # successes: 97 (98.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:26<00:07, 7.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the cream cheese + and place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=100--success=True--task=pick_up_the_cream_cheese_and_place_it_in_the_baske.mp4 +08/30 [16:54:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 100 + INFO | >> # successes: 98 (98.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:32<00:00, 7.26s/it] 100%|██████████| 50/50 [05:32<00:00, 6.66s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.98 + 20%|██ | 2/10 [11:21<45:16, 339.59s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=101--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:54:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 101 + INFO | >> # successes: 99 (98.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<06:20, 7.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=102--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:55:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 102 + INFO | >> # successes: 100 (98.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:15<06:08, 7.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=103--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:55:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 103 + INFO | >> # successes: 101 (98.1%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:22<05:41, 7.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=104--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:55:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 104 + INFO | >> # successes: 102 (98.1%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:28<05:20, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=105--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:55:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 105 + INFO | >> # successes: 103 (98.1%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:35<05:17, 7.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=106--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:55:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 106 + INFO | >> # successes: 104 (98.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:41<04:54, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=107--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:55:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 107 + INFO | >> # successes: 105 (98.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:48<04:41, 6.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=108--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:55:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 108 + INFO | >> # successes: 106 (98.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:54<04:29, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=109--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:55:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 109 + INFO | >> # successes: 107 (98.2%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:00<04:18, 6.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=110--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:55:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 110 + INFO | >> # successes: 108 (98.2%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:07<04:24, 6.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=111--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:55:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 111 + INFO | >> # successes: 109 (98.2%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:13<04:11, 6.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=112--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:56:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 112 + INFO | >> # successes: 110 (98.2%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:21<04:16, 6.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=113--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:56:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 113 + INFO | >> # successes: 111 (98.2%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:27<04:10, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=114--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:56:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 114 + INFO | >> # successes: 112 (98.2%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:34<04:00, 6.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=115--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:56:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 115 + INFO | >> # successes: 113 (98.3%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:40<03:51, 6.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=116--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:56:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 116 + INFO | >> # successes: 114 (98.3%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:47<03:43, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=117--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:56:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 117 + INFO | >> # successes: 115 (98.3%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:55<03:53, 7.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=118--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:56:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 118 + INFO | >> # successes: 116 (98.3%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:01<03:38, 6.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=119--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:56:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 119 + INFO | >> # successes: 117 (98.3%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:10<03:47, 7.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=120--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:57:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 120 + INFO | >> # successes: 118 (98.3%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:17<03:36, 7.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=121--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:57:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 121 + INFO | >> # successes: 119 (98.3%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:25<03:36, 7.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=122--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:57:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 122 + INFO | >> # successes: 120 (98.4%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:32<03:22, 7.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=123--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:57:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 123 + INFO | >> # successes: 121 (98.4%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:38<03:07, 6.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=124--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:57:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 124 + INFO | >> # successes: 122 (98.4%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:44<02:56, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=125--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:57:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 125 + INFO | >> # successes: 123 (98.4%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:52<02:59, 7.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=126--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:57:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 126 + INFO | >> # successes: 124 (98.4%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:59<02:46, 6.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=127--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:57:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 127 + INFO | >> # successes: 125 (98.4%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:05<02:33, 6.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=128--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:58:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 128 + INFO | >> # successes: 126 (98.4%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:14<02:41, 7.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=129--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:58:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 129 + INFO | >> # successes: 127 (98.4%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:21<02:34, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=130--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:58:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 130 + INFO | >> # successes: 128 (98.5%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:29<02:29, 7.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=131--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:58:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 131 + INFO | >> # successes: 129 (98.5%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:35<02:15, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=132--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:58:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 132 + INFO | >> # successes: 130 (98.5%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:42<02:05, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=133--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:58:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 133 + INFO | >> # successes: 131 (98.5%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:48<01:55, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=134--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:58:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 134 + INFO | >> # successes: 132 (98.5%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:55<01:51, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=135--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:58:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 135 + INFO | >> # successes: 133 (98.5%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:02<01:41, 6.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=136--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:58:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 136 + INFO | >> # successes: 134 (98.5%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:10<01:39, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=137--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:59:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 137 + INFO | >> # successes: 135 (98.5%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:17<01:33, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=138--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:59:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 138 + INFO | >> # successes: 136 (98.6%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:24<01:24, 7.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=139--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:59:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 139 + INFO | >> # successes: 137 (98.6%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:30<01:16, 6.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=140--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:59:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 140 + INFO | >> # successes: 138 (98.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:37<01:08, 6.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=141--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:59:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 141 + INFO | >> # successes: 139 (98.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:44<01:00, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=142--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:59:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 142 + INFO | >> # successes: 140 (98.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:50<00:52, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=143--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:59:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 143 + INFO | >> # successes: 141 (98.6%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:56<00:45, 6.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=144--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:59:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 144 + INFO | >> # successes: 142 (98.6%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:02<00:37, 6.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=145--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:59:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 145 + INFO | >> # successes: 143 (98.6%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:07<00:29, 5.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=146--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [16:59:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 146 + INFO | >> # successes: 144 (98.6%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:13<00:23, 5.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=147--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [17:00:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 147 + INFO | >> # successes: 145 (98.6%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:19<00:17, 5.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=148--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [17:00:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 148 + INFO | >> # successes: 146 (98.6%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:24<00:11, 5.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=149--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [17:00:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 149 + INFO | >> # successes: 147 (98.7%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:31<00:06, 6.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the salad + dressing and place it in the + basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=150--success=True--task=pick_up_the_salad_dressing_and_place_it_in_the_bas.mp4 +08/30 [17:00:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 150 + INFO | >> # successes: 148 (98.7%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:36<00:00, 5.86s/it] 100%|██████████| 50/50 [05:36<00:00, 6.73s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9866666666666667 + 30%|███ | 3/10 [16:59<39:33, 339.05s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=151--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:00:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 151 + INFO | >> # successes: 149 (98.7%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:18, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=152--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:00:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 152 + INFO | >> # successes: 150 (98.7%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:11<04:38, 5.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=153--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:00:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 153 + INFO | >> # successes: 151 (98.7%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:17<04:26, 5.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=154--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:00:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 154 + INFO | >> # successes: 152 (98.7%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:23<04:21, 5.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=155--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:00:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 155 + INFO | >> # successes: 153 (98.7%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:28<04:13, 5.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=156--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:00:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 156 + INFO | >> # successes: 154 (98.7%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:33<04:04, 5.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=157--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:01:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 157 + INFO | >> # successes: 155 (98.7%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:40<04:05, 5.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=158--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:01:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 158 + INFO | >> # successes: 156 (98.7%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:46<04:06, 5.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=159--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:01:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 159 + INFO | >> # successes: 157 (98.7%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:53<04:22, 6.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=160--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:01:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 160 + INFO | >> # successes: 158 (98.8%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:03<04:55, 7.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=161--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:01:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 161 + INFO | >> # successes: 159 (98.8%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:14<05:37, 8.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=162--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:01:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 162 + INFO | >> # successes: 160 (98.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:21<05:03, 8.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=163--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:01:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 163 + INFO | >> # successes: 161 (98.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:27<04:36, 7.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=164--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:01:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 164 + INFO | >> # successes: 162 (98.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:34<04:18, 7.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=165--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:02:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 165 + INFO | >> # successes: 163 (98.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:40<04:05, 7.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=166--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:02:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 166 + INFO | >> # successes: 164 (98.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:47<03:55, 6.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=167--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:02:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 167 + INFO | >> # successes: 165 (98.8%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:56<04:07, 7.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=168--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:02:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 168 + INFO | >> # successes: 166 (98.8%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:03<03:53, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=169--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:02:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 169 + INFO | >> # successes: 167 (98.8%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:09<03:39, 7.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=170--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:02:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 170 + INFO | >> # successes: 168 (98.8%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:18<03:47, 7.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=171--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:02:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 171 + INFO | >> # successes: 169 (98.8%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:25<03:30, 7.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=172--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:02:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 172 + INFO | >> # successes: 170 (98.8%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:30<03:10, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=173--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:03:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 173 + INFO | >> # successes: 171 (98.8%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:38<03:13, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=174--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:03:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 174 + INFO | >> # successes: 172 (98.9%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:45<03:05, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=175--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:03:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 175 + INFO | >> # successes: 173 (98.9%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:54<03:08, 7.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=176--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:03:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 176 + INFO | >> # successes: 174 (98.9%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:01<02:59, 7.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=177--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:03:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 177 + INFO | >> # successes: 175 (98.9%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:07<02:42, 7.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=178--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:03:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 178 + INFO | >> # successes: 176 (98.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:15<02:41, 7.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=179--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:03:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 179 + INFO | >> # successes: 177 (98.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:22<02:31, 7.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=180--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:03:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 180 + INFO | >> # successes: 178 (98.9%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:29<02:20, 7.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=181--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:04:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 181 + INFO | >> # successes: 179 (98.9%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:37<02:20, 7.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=182--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:04:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 182 + INFO | >> # successes: 180 (98.9%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:44<02:09, 7.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=183--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:04:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 183 + INFO | >> # successes: 181 (98.9%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:54<02:17, 8.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=184--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:04:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 184 + INFO | >> # successes: 182 (98.9%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:00<02:01, 7.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=185--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:04:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 185 + INFO | >> # successes: 183 (98.9%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:10<02:02, 8.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=186--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:04:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 186 + INFO | >> # successes: 184 (98.9%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:17<01:48, 7.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=187--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:04:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 187 + INFO | >> # successes: 185 (98.9%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:23<01:36, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=188--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:04:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 188 + INFO | >> # successes: 186 (98.9%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:31<01:29, 7.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=189--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:05:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 189 + INFO | >> # successes: 187 (98.9%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:37<01:18, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=190--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:05:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 190 + INFO | >> # successes: 188 (98.9%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:45<01:14, 7.43s/it]08/30 [17:05:10] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=191--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:05:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 191 + INFO | >> # successes: 189 (99.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:53<01:06, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=192--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:05:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 192 + INFO | >> # successes: 190 (99.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:59<00:56, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=193--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:05:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 193 + INFO | >> # successes: 191 (99.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:06<00:48, 6.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=194--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:05:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 194 + INFO | >> # successes: 192 (99.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:12<00:40, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=195--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:05:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 195 + INFO | >> # successes: 193 (99.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:20<00:35, 7.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=196--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:05:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 196 + INFO | >> # successes: 194 (99.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:28<00:29, 7.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=197--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:06:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 197 + INFO | >> # successes: 195 (99.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:35<00:22, 7.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=198--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:06:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 198 + INFO | >> # successes: 196 (99.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:43<00:14, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=199--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:06:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 199 + INFO | >> # successes: 197 (99.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:49<00:07, 7.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the bbq sauce and + place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=200--success=True--task=pick_up_the_bbq_sauce_and_place_it_in_the_basket.mp4 +08/30 [17:06:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 200 + INFO | >> # successes: 198 (99.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:56<00:00, 6.90s/it] 100%|██████████| 50/50 [05:56<00:00, 7.12s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.99 + 40%|████ | 4/10 [22:57<34:38, 346.37s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=201--success=False--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:06:33] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 201 + INFO | >> # successes: 198 (98.5%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:12<09:48, 12.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=202--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:06:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 202 + INFO | >> # successes: 199 (98.5%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:19<07:29, 9.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=203--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:06:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 203 + INFO | >> # successes: 200 (98.5%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:26<06:30, 8.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=204--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:06:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 204 + INFO | >> # successes: 201 (98.5%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:32<05:46, 7.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=205--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:07:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 205 + INFO | >> # successes: 202 (98.5%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:39<05:29, 7.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=206--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:07:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 206 + INFO | >> # successes: 203 (98.5%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:47<05:22, 7.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=207--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:07:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 207 + INFO | >> # successes: 204 (98.6%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:53<04:58, 6.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=208--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:07:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 208 + INFO | >> # successes: 205 (98.6%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:02<05:17, 7.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=209--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:07:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 209 + INFO | >> # successes: 206 (98.6%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:08<04:51, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=210--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:07:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 210 + INFO | >> # successes: 207 (98.6%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:14<04:32, 6.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=211--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:07:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 211 + INFO | >> # successes: 208 (98.6%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:20<04:18, 6.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=212--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:07:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 212 + INFO | >> # successes: 209 (98.6%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:35<05:43, 9.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=213--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:08:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 213 + INFO | >> # successes: 210 (98.6%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:41<05:06, 8.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=214--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:08:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 214 + INFO | >> # successes: 211 (98.6%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:47<04:34, 7.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=215--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:08:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 215 + INFO | >> # successes: 212 (98.6%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:57<04:45, 8.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=216--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:08:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 216 + INFO | >> # successes: 213 (98.6%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:05<04:40, 8.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=217--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:08:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 217 + INFO | >> # successes: 214 (98.6%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:14<04:35, 8.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=218--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:08:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 218 + INFO | >> # successes: 215 (98.6%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:22<04:23, 8.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=219--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:08:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 219 + INFO | >> # successes: 216 (98.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:29<04:05, 7.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=220--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:08:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 220 + INFO | >> # successes: 217 (98.6%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:37<03:56, 7.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=221--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:09:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 221 + INFO | >> # successes: 218 (98.6%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:44<03:44, 7.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=222--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:09:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 222 + INFO | >> # successes: 219 (98.6%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:52<03:39, 7.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=223--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:09:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 223 + INFO | >> # successes: 220 (98.7%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:04<04:06, 9.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=224--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:09:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 224 + INFO | >> # successes: 221 (98.7%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:13<03:53, 8.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=225--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:09:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 225 + INFO | >> # successes: 222 (98.7%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:20<03:31, 8.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=226--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:09:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 226 + INFO | >> # successes: 223 (98.7%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:27<03:13, 8.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=227--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:10:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 227 + INFO | >> # successes: 224 (98.7%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:39<03:31, 9.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=228--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:10:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 228 + INFO | >> # successes: 225 (98.7%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:47<03:12, 8.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=229--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:10:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 229 + INFO | >> # successes: 226 (98.7%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:58<03:15, 9.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=230--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:10:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 230 + INFO | >> # successes: 227 (98.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [04:07<03:08, 9.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=231--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:10:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 231 + INFO | >> # successes: 228 (98.7%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:19<03:10, 10.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=232--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:10:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 232 + INFO | >> # successes: 229 (98.7%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:27<02:50, 9.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=233--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:10:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 233 + INFO | >> # successes: 230 (98.7%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:36<02:37, 9.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=234--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:11:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 234 + INFO | >> # successes: 231 (98.7%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:43<02:19, 8.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=235--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:11:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 235 + INFO | >> # successes: 232 (98.7%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:52<02:09, 8.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=236--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:11:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 236 + INFO | >> # successes: 233 (98.7%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [05:00<01:59, 8.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=237--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:11:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 237 + INFO | >> # successes: 234 (98.7%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [05:13<02:10, 10.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=238--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:11:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 238 + INFO | >> # successes: 235 (98.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [05:23<01:59, 9.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=239--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:11:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 239 + INFO | >> # successes: 236 (98.7%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [05:35<01:57, 10.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=240--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:12:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 240 + INFO | >> # successes: 237 (98.8%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [05:46<01:45, 10.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=241--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:12:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 241 + INFO | >> # successes: 238 (98.8%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [05:53<01:27, 9.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=242--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:12:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 242 + INFO | >> # successes: 239 (98.8%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [06:01<01:12, 9.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=243--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:12:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 243 + INFO | >> # successes: 240 (98.8%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [06:08<01:00, 8.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=244--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:12:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 244 + INFO | >> # successes: 241 (98.8%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [06:20<00:56, 9.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=245--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:12:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 245 + INFO | >> # successes: 242 (98.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [06:28<00:44, 8.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=246--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:12:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 246 + INFO | >> # successes: 243 (98.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [06:35<00:34, 8.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=247--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:13:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 247 + INFO | >> # successes: 244 (98.8%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [06:46<00:27, 9.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=248--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:13:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 248 + INFO | >> # successes: 245 (98.8%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [06:54<00:17, 8.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=249--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:13:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 249 + INFO | >> # successes: 246 (98.8%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [07:01<00:08, 8.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the ketchup and + place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=250--success=True--task=pick_up_the_ketchup_and_place_it_in_the_basket.mp4 +08/30 [17:13:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 250 + INFO | >> # successes: 247 (98.8%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [07:09<00:00, 8.13s/it] 100%|██████████| 50/50 [07:09<00:00, 8.59s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.988 + 50%|█████ | 5/10 [30:08<31:23, 376.77s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=251--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:13:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 251 + INFO | >> # successes: 248 (98.8%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<06:31, 7.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=252--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:13:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 252 + INFO | >> # successes: 249 (98.8%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:41, 7.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=253--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:13:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 253 + INFO | >> # successes: 250 (98.8%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:21<05:25, 6.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=254--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:14:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 254 + INFO | >> # successes: 251 (98.8%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:28<05:31, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=255--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:14:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 255 + INFO | >> # successes: 252 (98.8%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:38<06:06, 8.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=256--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:14:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 256 + INFO | >> # successes: 253 (98.8%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:45<05:42, 7.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=257--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:14:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 257 + INFO | >> # successes: 254 (98.8%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:55<06:00, 8.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=258--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:14:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 258 + INFO | >> # successes: 255 (98.8%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:01<05:24, 7.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=259--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:14:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 259 + INFO | >> # successes: 256 (98.8%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:10<05:28, 8.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=260--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:14:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 260 + INFO | >> # successes: 257 (98.8%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:16<04:58, 7.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=261--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:14:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 261 + INFO | >> # successes: 258 (98.9%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:23<04:49, 7.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=262--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:15:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 262 + INFO | >> # successes: 259 (98.9%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:31<04:49, 7.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=263--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:15:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 263 + INFO | >> # successes: 260 (98.9%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:38<04:30, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=264--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:15:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 264 + INFO | >> # successes: 261 (98.9%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:47<04:36, 7.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=265--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:15:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 265 + INFO | >> # successes: 262 (98.9%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:56<04:51, 8.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=266--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:15:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 266 + INFO | >> # successes: 263 (98.9%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:05<04:42, 8.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=267--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:15:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 267 + INFO | >> # successes: 264 (98.9%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:12<04:23, 7.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=268--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:15:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 268 + INFO | >> # successes: 265 (98.9%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:18<03:53, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=269--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:16:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 269 + INFO | >> # successes: 266 (98.9%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:28<04:13, 8.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=270--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:16:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 270 + INFO | >> # successes: 267 (98.9%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:36<04:06, 8.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=271--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:16:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 271 + INFO | >> # successes: 268 (98.9%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:49<04:41, 9.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=272--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:16:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 272 + INFO | >> # successes: 269 (98.9%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [03:01<04:45, 10.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=273--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:16:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 273 + INFO | >> # successes: 270 (98.9%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:09<04:19, 9.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=274--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:16:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 274 + INFO | >> # successes: 271 (98.9%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:19<04:13, 9.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=275--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:16:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 275 + INFO | >> # successes: 272 (98.9%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:26<03:42, 8.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=276--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:17:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 276 + INFO | >> # successes: 273 (98.9%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:35<03:32, 8.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=277--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:17:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 277 + INFO | >> # successes: 274 (98.9%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:42<03:13, 8.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=278--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:17:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 278 + INFO | >> # successes: 275 (98.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:49<02:58, 8.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=279--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:17:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 279 + INFO | >> # successes: 276 (98.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:57<02:45, 7.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=280--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:17:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 280 + INFO | >> # successes: 277 (98.9%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [04:03<02:29, 7.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=281--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:17:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 281 + INFO | >> # successes: 278 (98.9%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:14<02:41, 8.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=282--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:17:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 282 + INFO | >> # successes: 279 (98.9%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:23<02:34, 8.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=283--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:18:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 283 + INFO | >> # successes: 280 (98.9%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:31<02:23, 8.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=284--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:18:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 284 + INFO | >> # successes: 281 (98.9%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:39<02:10, 8.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=285--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:18:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 285 + INFO | >> # successes: 282 (98.9%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:45<01:56, 7.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=286--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:18:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 286 + INFO | >> # successes: 283 (99.0%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:52<01:45, 7.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=287--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:18:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 287 + INFO | >> # successes: 284 (99.0%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:59<01:35, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=288--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:18:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 288 + INFO | >> # successes: 285 (99.0%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [05:08<01:31, 7.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=289--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:18:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 289 + INFO | >> # successes: 286 (99.0%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [05:15<01:24, 7.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=290--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:18:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 290 + INFO | >> # successes: 287 (99.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [05:23<01:15, 7.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=291--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:19:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 291 + INFO | >> # successes: 288 (99.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [05:30<01:06, 7.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=292--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:19:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 292 + INFO | >> # successes: 289 (99.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:37<00:59, 7.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=293--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:19:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 293 + INFO | >> # successes: 290 (99.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:48<00:59, 8.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=294--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:19:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 294 + INFO | >> # successes: 291 (99.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [06:05<01:06, 11.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=295--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:19:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 295 + INFO | >> # successes: 292 (99.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [06:15<00:53, 10.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=296--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:19:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 296 + INFO | >> # successes: 293 (99.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [06:23<00:39, 9.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=297--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:20:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 297 + INFO | >> # successes: 294 (99.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [06:30<00:26, 8.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=298--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:20:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 298 + INFO | >> # successes: 295 (99.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [06:38<00:17, 8.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=299--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:20:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 299 + INFO | >> # successes: 296 (99.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [06:47<00:08, 8.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the tomato sauce + and place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=300--success=True--task=pick_up_the_tomato_sauce_and_place_it_in_the_baske.mp4 +08/30 [17:20:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 300 + INFO | >> # successes: 297 (99.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:55<00:00, 8.59s/it] 100%|██████████| 50/50 [06:55<00:00, 8.31s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.99 + 60%|██████ | 6/10 [37:04<26:01, 390.43s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=301--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:20:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 301 + INFO | >> # successes: 298 (99.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:10<08:21, 10.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=302--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:20:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 302 + INFO | >> # successes: 299 (99.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:20<08:09, 10.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=303--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:21:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 303 + INFO | >> # successes: 300 (99.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:31<08:19, 10.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=304--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:21:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 304 + INFO | >> # successes: 301 (99.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:41<07:50, 10.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=305--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:21:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 305 + INFO | >> # successes: 302 (99.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:51<07:36, 10.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=306--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:21:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 306 + INFO | >> # successes: 303 (99.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:59<07:04, 9.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=307--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:21:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 307 + INFO | >> # successes: 304 (99.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:08<06:43, 9.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=308--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:21:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 308 + INFO | >> # successes: 305 (99.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:16<06:08, 8.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=309--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:21:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 309 + INFO | >> # successes: 306 (99.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:25<06:05, 8.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=310--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:22:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 310 + INFO | >> # successes: 307 (99.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:33<05:51, 8.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=311--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:22:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 311 + INFO | >> # successes: 308 (99.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:43<05:51, 9.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=312--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:22:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 312 + INFO | >> # successes: 309 (99.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:54<06:04, 9.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=313--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:22:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 313 + INFO | >> # successes: 310 (99.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [02:02<05:36, 9.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=314--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:22:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 314 + INFO | >> # successes: 311 (99.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:18<06:45, 11.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=315--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:23:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 315 + INFO | >> # successes: 312 (99.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:36<07:47, 13.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=316--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:23:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 316 + INFO | >> # successes: 313 (99.1%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:43<06:27, 11.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=317--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:23:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 317 + INFO | >> # successes: 314 (99.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:50<05:34, 10.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=318--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:23:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 318 + INFO | >> # successes: 315 (99.1%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [03:02<05:38, 10.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=319--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:23:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 319 + INFO | >> # successes: 316 (99.1%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [03:10<05:09, 9.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=320--success=False--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:23:53] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 320 + INFO | >> # successes: 316 (98.8%) run_libero_eval.py:226 + + 40%|████ | 20/50 [03:24<05:29, 10.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=321--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:24:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 321 + INFO | >> # successes: 317 (98.8%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [03:35<05:19, 11.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=322--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:24:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 322 + INFO | >> # successes: 318 (98.8%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [03:45<04:59, 10.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=323--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:24:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 323 + INFO | >> # successes: 319 (98.8%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:56<04:55, 10.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=324--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:24:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 324 + INFO | >> # successes: 320 (98.8%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [04:04<04:21, 10.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=325--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:24:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 325 + INFO | >> # successes: 321 (98.8%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [04:13<04:01, 9.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=326--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:24:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 326 + INFO | >> # successes: 322 (98.8%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [04:21<03:38, 9.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=327--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:24:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 327 + INFO | >> # successes: 323 (98.8%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [04:29<03:25, 8.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=328--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:25:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 328 + INFO | >> # successes: 324 (98.8%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [04:41<03:31, 9.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=329--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:25:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 329 + INFO | >> # successes: 325 (98.8%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [04:49<03:16, 9.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=330--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:25:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 330 + INFO | >> # successes: 326 (98.8%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [04:57<02:56, 8.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=331--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:25:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 331 + INFO | >> # successes: 327 (98.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [05:04<02:39, 8.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=332--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:25:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 332 + INFO | >> # successes: 328 (98.8%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [05:12<02:26, 8.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=333--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:25:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 333 + INFO | >> # successes: 329 (98.8%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [05:19<02:15, 7.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=334--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:25:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 334 + INFO | >> # successes: 330 (98.8%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [05:29<02:16, 8.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=335--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:26:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 335 + INFO | >> # successes: 331 (98.8%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [05:38<02:07, 8.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=336--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:26:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 336 + INFO | >> # successes: 332 (98.8%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [05:46<01:58, 8.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=337--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:26:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 337 + INFO | >> # successes: 333 (98.8%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [06:04<02:26, 11.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=338--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:26:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 338 + INFO | >> # successes: 334 (98.8%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [06:14<02:12, 11.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=339--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:26:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 339 + INFO | >> # successes: 335 (98.8%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [06:24<01:56, 10.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=340--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:27:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 340 + INFO | >> # successes: 336 (98.8%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [06:32<01:38, 9.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=341--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:27:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 341 + INFO | >> # successes: 337 (98.8%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [06:44<01:33, 10.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=342--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:27:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 342 + INFO | >> # successes: 338 (98.8%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [06:51<01:15, 9.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=343--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:27:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 343 + INFO | >> # successes: 339 (98.8%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [06:59<01:04, 9.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=344--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:27:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 344 + INFO | >> # successes: 340 (98.8%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [07:07<00:51, 8.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=345--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:27:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 345 + INFO | >> # successes: 341 (98.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [07:16<00:43, 8.80s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=346--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:27:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 346 + INFO | >> # successes: 342 (98.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [07:26<00:36, 9.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=347--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:28:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 347 + INFO | >> # successes: 343 (98.8%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [07:36<00:27, 9.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=348--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:28:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 348 + INFO | >> # successes: 344 (98.9%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [07:45<00:18, 9.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=349--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:28:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 349 + INFO | >> # successes: 345 (98.9%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [08:01<00:11, 11.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the butter and + place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=350--success=True--task=pick_up_the_butter_and_place_it_in_the_basket.mp4 +08/30 [17:28:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 350 + INFO | >> # successes: 346 (98.9%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [08:13<00:00, 11.52s/it] 100%|██████████| 50/50 [08:13<00:00, 9.87s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9885714285714285 + 70%|███████ | 7/10 [45:20<21:13, 424.63s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=351--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:28:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 351 + INFO | >> # successes: 347 (98.9%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<06:00, 7.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=352--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:28:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 352 + INFO | >> # successes: 348 (98.9%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:45, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=353--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:29:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 353 + INFO | >> # successes: 349 (98.9%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:24<06:39, 8.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=354--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:29:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 354 + INFO | >> # successes: 350 (98.9%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:33<06:41, 8.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=355--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:29:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 355 + INFO | >> # successes: 351 (98.9%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:40<06:06, 8.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=356--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:29:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 356 + INFO | >> # successes: 352 (98.9%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:48<05:52, 8.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=357--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:29:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 357 + INFO | >> # successes: 353 (98.9%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:55<05:35, 7.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=358--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:29:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 358 + INFO | >> # successes: 354 (98.9%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:05<05:52, 8.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=359--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:29:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 359 + INFO | >> # successes: 355 (98.9%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:13<05:35, 8.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=360--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:30:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 360 + INFO | >> # successes: 356 (98.9%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:24<06:02, 9.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=361--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:30:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 361 + INFO | >> # successes: 357 (98.9%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:37<06:48, 10.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=362--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:30:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 362 + INFO | >> # successes: 358 (98.9%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:44<05:51, 9.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=363--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:30:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 363 + INFO | >> # successes: 359 (98.9%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:51<05:17, 8.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=364--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:30:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 364 + INFO | >> # successes: 360 (98.9%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:57<04:42, 7.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=365--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:30:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 365 + INFO | >> # successes: 361 (98.9%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:03<04:16, 7.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=366--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:30:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 366 + INFO | >> # successes: 362 (98.9%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:09<03:50, 6.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=367--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:31:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 367 + INFO | >> # successes: 363 (98.9%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:25<05:18, 9.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=368--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:31:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 368 + INFO | >> # successes: 364 (98.9%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:34<05:01, 9.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=369--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:31:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 369 + INFO | >> # successes: 365 (98.9%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:42<04:42, 9.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=370--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:31:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 370 + INFO | >> # successes: 366 (98.9%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:52<04:39, 9.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=371--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:31:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 371 + INFO | >> # successes: 367 (98.9%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [03:11<05:50, 12.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=372--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:32:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 372 + INFO | >> # successes: 368 (98.9%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [03:21<05:21, 11.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=373--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:32:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 373 + INFO | >> # successes: 369 (98.9%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:27<04:32, 10.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=374--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:32:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 374 + INFO | >> # successes: 370 (98.9%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:38<04:23, 10.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=375--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:32:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 375 + INFO | >> # successes: 371 (98.9%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:45<03:49, 9.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=376--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:32:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 376 + INFO | >> # successes: 372 (98.9%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:52<03:30, 8.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=377--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:32:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 377 + INFO | >> # successes: 373 (98.9%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [04:02<03:26, 8.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=378--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:32:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 378 + INFO | >> # successes: 374 (98.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [04:13<03:31, 9.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=379--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:33:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 379 + INFO | >> # successes: 375 (98.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [04:30<04:06, 11.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=380--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:33:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 380 + INFO | >> # successes: 376 (98.9%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [04:40<03:46, 11.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=381--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:33:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 381 + INFO | >> # successes: 377 (99.0%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:47<03:08, 9.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=382--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:33:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 382 + INFO | >> # successes: 378 (99.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:53<02:41, 8.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=383--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:33:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 383 + INFO | >> # successes: 379 (99.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [05:03<02:34, 9.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=384--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:33:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 384 + INFO | >> # successes: 380 (99.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [05:13<02:30, 9.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=385--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:34:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 385 + INFO | >> # successes: 381 (99.0%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [05:30<02:56, 11.74s/it]08/30 [17:34:15] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=386--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:34:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 386 + INFO | >> # successes: 382 (99.0%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [05:38<02:28, 10.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=387--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:34:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 387 + INFO | >> # successes: 383 (99.0%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [05:57<02:50, 13.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=388--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:34:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 388 + INFO | >> # successes: 384 (99.0%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [06:04<02:14, 11.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=389--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:35:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 389 + INFO | >> # successes: 385 (99.0%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [06:16<02:05, 11.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=390--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:35:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 390 + INFO | >> # successes: 386 (99.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [06:26<01:50, 11.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=391--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:35:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 391 + INFO | >> # successes: 387 (99.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [06:33<01:29, 9.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=392--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:35:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 392 + INFO | >> # successes: 388 (99.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [06:41<01:13, 9.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=393--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:35:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 393 + INFO | >> # successes: 389 (99.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [06:53<01:10, 10.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=394--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:35:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 394 + INFO | >> # successes: 390 (99.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [07:01<00:57, 9.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=395--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:35:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 395 + INFO | >> # successes: 391 (99.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [07:09<00:45, 9.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=396--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:36:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 396 + INFO | >> # successes: 392 (99.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [07:18<00:36, 9.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=397--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:36:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 397 + INFO | >> # successes: 393 (99.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [07:33<00:32, 10.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=398--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:36:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 398 + INFO | >> # successes: 394 (99.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [07:40<00:19, 9.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=399--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:36:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 399 + INFO | >> # successes: 395 (99.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [07:47<00:08, 8.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the milk and + place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=400--success=True--task=pick_up_the_milk_and_place_it_in_the_basket.mp4 +08/30 [17:36:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 400 + INFO | >> # successes: 396 (99.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [07:57<00:00, 9.10s/it] 100%|██████████| 50/50 [07:57<00:00, 9.54s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.99 + 80%|████████ | 8/10 [53:18<14:43, 441.83s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=401--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:36:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 401 + INFO | >> # successes: 397 (99.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:08<07:12, 8.83s/it]08/30 [17:36:52] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=402--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:36:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 402 + INFO | >> # successes: 398 (99.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:16<06:38, 8.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=403--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:37:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 403 + INFO | >> # successes: 399 (99.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:27<07:16, 9.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=404--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:37:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 404 + INFO | >> # successes: 400 (99.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:38<07:39, 9.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=405--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:37:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 405 + INFO | >> # successes: 401 (99.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:49<07:46, 10.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=406--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:37:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 406 + INFO | >> # successes: 402 (99.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:56<06:54, 9.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=407--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:37:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 407 + INFO | >> # successes: 403 (99.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [01:04<06:16, 8.76s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=408--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:37:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 408 + INFO | >> # successes: 404 (99.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:13<06:13, 8.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=409--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:38:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 409 + INFO | >> # successes: 405 (99.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:24<06:26, 9.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=410--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:38:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 410 + INFO | >> # successes: 406 (99.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:31<05:51, 8.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=411--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:38:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 411 + INFO | >> # successes: 407 (99.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:40<05:50, 8.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=412--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:38:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 412 + INFO | >> # successes: 408 (99.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:46<05:06, 8.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=413--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:38:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 413 + INFO | >> # successes: 409 (99.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:53<04:41, 7.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=414--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:38:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 414 + INFO | >> # successes: 410 (99.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [02:03<04:57, 8.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=415--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:38:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 415 + INFO | >> # successes: 411 (99.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [02:09<04:29, 7.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=416--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:39:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 416 + INFO | >> # successes: 412 (99.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [02:18<04:38, 8.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=417--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:39:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 417 + INFO | >> # successes: 413 (99.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:26<04:24, 8.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=418--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:39:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 418 + INFO | >> # successes: 414 (99.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:32<04:00, 7.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=419--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:39:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 419 + INFO | >> # successes: 415 (99.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:40<03:50, 7.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=420--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:39:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 420 + INFO | >> # successes: 416 (99.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:46<03:34, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=421--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:39:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 421 + INFO | >> # successes: 417 (99.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:53<03:28, 7.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=422--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:40:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 422 + INFO | >> # successes: 418 (99.1%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [03:17<05:35, 11.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=423--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:40:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 423 + INFO | >> # successes: 419 (99.1%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:25<04:57, 11.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=424--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:40:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 424 + INFO | >> # successes: 420 (99.1%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:33<04:21, 10.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=425--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:40:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 425 + INFO | >> # successes: 421 (99.1%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:41<03:51, 9.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=426--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:40:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 426 + INFO | >> # successes: 422 (99.1%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:48<03:26, 8.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=427--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:40:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 427 + INFO | >> # successes: 423 (99.1%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:55<03:08, 8.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=428--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:40:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 428 + INFO | >> # successes: 424 (99.1%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [04:06<03:17, 8.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=429--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:40:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 429 + INFO | >> # successes: 425 (99.1%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [04:13<02:58, 8.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=430--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:41:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 430 + INFO | >> # successes: 426 (99.1%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [04:21<02:47, 8.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=431--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:41:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 431 + INFO | >> # successes: 427 (99.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [04:30<02:39, 8.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=432--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:41:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 432 + INFO | >> # successes: 428 (99.1%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:49<03:32, 11.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=433--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:41:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 433 + INFO | >> # successes: 429 (99.1%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [05:07<03:51, 13.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=434--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:42:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 434 + INFO | >> # successes: 430 (99.1%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [05:18<03:22, 12.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=435--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:42:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 435 + INFO | >> # successes: 431 (99.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [05:26<02:48, 11.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=436--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:42:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 436 + INFO | >> # successes: 432 (99.1%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [05:35<02:31, 10.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=437--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:42:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 437 + INFO | >> # successes: 433 (99.1%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [05:43<02:06, 9.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=438--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:42:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 438 + INFO | >> # successes: 434 (99.1%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [05:50<01:48, 9.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=439--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:42:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 439 + INFO | >> # successes: 435 (99.1%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [05:58<01:35, 8.69s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=440--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:42:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 440 + INFO | >> # successes: 436 (99.1%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [06:16<01:54, 11.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=441--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:43:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 441 + INFO | >> # successes: 437 (99.1%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [06:23<01:31, 10.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=442--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:43:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 442 + INFO | >> # successes: 438 (99.1%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [06:32<01:19, 9.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=443--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:43:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 443 + INFO | >> # successes: 439 (99.1%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [06:43<01:10, 10.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=444--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:43:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 444 + INFO | >> # successes: 440 (99.1%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [06:50<00:55, 9.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=445--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:43:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 445 + INFO | >> # successes: 441 (99.1%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [06:59<00:45, 9.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=446--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:43:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 446 + INFO | >> # successes: 442 (99.1%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [07:10<00:39, 9.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=447--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:44:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 447 + INFO | >> # successes: 443 (99.1%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [07:18<00:27, 9.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=448--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:44:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 448 + INFO | >> # successes: 444 (99.1%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [07:26<00:17, 8.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=449--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:44:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 449 + INFO | >> # successes: 445 (99.1%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [07:34<00:08, 8.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the chocolate + pudding and place it in the + basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=450--success=True--task=pick_up_the_chocolate_pudding_and_place_it_in_the_.mp4 +08/30 [17:44:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 450 + INFO | >> # successes: 446 (99.1%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [07:43<00:00, 8.59s/it] 100%|██████████| 50/50 [07:43<00:00, 9.26s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9911111111111112 + 90%|█████████ | 9/10 [1:01:03<07:28, 448.98s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=451--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:44:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 451 + INFO | >> # successes: 447 (99.1%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:22, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=452--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:44:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 452 + INFO | >> # successes: 448 (99.1%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:42, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=453--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:44:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 453 + INFO | >> # successes: 449 (99.1%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:21<05:38, 7.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=454--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:44:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 454 + INFO | >> # successes: 450 (99.1%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:28<05:31, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=455--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:45:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 455 + INFO | >> # successes: 451 (99.1%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:35<05:19, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=456--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:45:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 456 + INFO | >> # successes: 452 (99.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:42<05:12, 7.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=457--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:45:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 457 + INFO | >> # successes: 453 (99.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:49<05:07, 7.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=458--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:45:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 458 + INFO | >> # successes: 454 (99.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:00<05:45, 8.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=459--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:45:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 459 + INFO | >> # successes: 455 (99.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:06<05:13, 7.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=460--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:45:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 460 + INFO | >> # successes: 456 (99.1%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:13<04:51, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=461--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:45:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 461 + INFO | >> # successes: 457 (99.1%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:19<04:26, 6.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=462--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:45:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 462 + INFO | >> # successes: 458 (99.1%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:24<04:07, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=463--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:45:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 463 + INFO | >> # successes: 459 (99.1%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:30<03:54, 6.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=464--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:46:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 464 + INFO | >> # successes: 460 (99.1%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:37<03:56, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=465--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:46:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 465 + INFO | >> # successes: 461 (99.1%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:43<03:41, 6.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=466--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:46:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 466 + INFO | >> # successes: 462 (99.1%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:49<03:26, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=467--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:46:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 467 + INFO | >> # successes: 463 (99.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:58<03:50, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=468--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:46:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 468 + INFO | >> # successes: 464 (99.1%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:04<03:33, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=469--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:46:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 469 + INFO | >> # successes: 465 (99.1%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:09<03:17, 6.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=470--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:46:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 470 + INFO | >> # successes: 466 (99.1%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:15<03:05, 6.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=471--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:46:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 471 + INFO | >> # successes: 467 (99.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:21<02:52, 5.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=472--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:46:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 472 + INFO | >> # successes: 468 (99.2%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:27<02:49, 6.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=473--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:47:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 473 + INFO | >> # successes: 469 (99.2%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:33<02:40, 5.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=474--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:47:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 474 + INFO | >> # successes: 470 (99.2%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:39<02:38, 6.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=475--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:47:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 475 + INFO | >> # successes: 471 (99.2%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:46<02:36, 6.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=476--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:47:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 476 + INFO | >> # successes: 472 (99.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:55<02:49, 7.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=477--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:47:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 477 + INFO | >> # successes: 473 (99.2%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:02<02:44, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=478--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:47:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 478 + INFO | >> # successes: 474 (99.2%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:09<02:36, 7.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=479--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:47:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 479 + INFO | >> # successes: 475 (99.2%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:16<02:26, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=480--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:47:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 480 + INFO | >> # successes: 476 (99.2%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:23<02:24, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=481--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:48:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 481 + INFO | >> # successes: 477 (99.2%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:32<02:23, 7.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=482--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:48:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 482 + INFO | >> # successes: 478 (99.2%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:38<02:11, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=483--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:48:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 483 + INFO | >> # successes: 479 (99.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:45<02:01, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=484--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:48:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 484 + INFO | >> # successes: 480 (99.2%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:52<01:52, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=485--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:48:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 485 + INFO | >> # successes: 481 (99.2%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:00<01:48, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=486--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:48:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 486 + INFO | >> # successes: 482 (99.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:06<01:37, 6.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=487--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:48:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 487 + INFO | >> # successes: 483 (99.2%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:13<01:31, 7.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=488--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:48:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 488 + INFO | >> # successes: 484 (99.2%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:20<01:23, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=489--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:48:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 489 + INFO | >> # successes: 485 (99.2%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:27<01:15, 6.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=490--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:49:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 490 + INFO | >> # successes: 486 (99.2%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:33<01:07, 6.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=491--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:49:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 491 + INFO | >> # successes: 487 (99.2%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:42<01:06, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=492--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:49:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 492 + INFO | >> # successes: 488 (99.2%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:49<00:58, 7.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=493--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:49:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 493 + INFO | >> # successes: 489 (99.2%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:55<00:48, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=494--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:49:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 494 + INFO | >> # successes: 490 (99.2%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:03<00:42, 7.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=495--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:49:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 495 + INFO | >> # successes: 491 (99.2%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:09<00:34, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=496--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:49:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 496 + INFO | >> # successes: 492 (99.2%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:18<00:29, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=497--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:49:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 497 + INFO | >> # successes: 493 (99.2%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:24<00:21, 7.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=498--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:49:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 498 + INFO | >> # successes: 494 (99.2%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:32<00:14, 7.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=499--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:50:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 499 + INFO | >> # successes: 495 (99.2%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:39<00:07, 7.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the orange juice + and place it in the basket + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_08_30/2025_08_30-16_43_13--episode=500--success=True--task=pick_up_the_orange_juice_and_place_it_in_the_baske.mp4 +08/30 [17:50:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 500 + INFO | >> # successes: 496 (99.2%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:46<00:00, 7.27s/it] 100%|██████████| 50/50 [05:46<00:00, 6.93s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.992 + 100%|██████████| 10/10 [1:06:51<00:00, 417.88s/it] 100%|██████████| 10/10 [1:06:51<00:00, 401.16s/it] + INFO | >> Final results: run_libero_eval.py:226 + INFO | >> Total episodes: 500 run_libero_eval.py:226 + INFO | >> Total successes: 496 run_libero_eval.py:226 + INFO | >> Overall success rate: run_libero_eval.py:226 + 0.9920 (99.2%) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__ + self.gl_ctx.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__ + self.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) diff --git a/VLA-Adapter-UAV/eval_logs/Inference-Spatial--97.8.log b/VLA-Adapter-UAV/eval_logs/Inference-Spatial--97.8.log new file mode 100644 index 0000000000000000000000000000000000000000..36a64d5d66f74206d47a65b4305910b41c46060c --- /dev/null +++ b/VLA-Adapter-UAV/eval_logs/Inference-Spatial--97.8.log @@ -0,0 +1,7771 @@ +2025-09-01 18:26:09.150294: I tensorflow/core/util/port.cc:113] oneDNN custom operations are on. You may see slightly different numerical results due to floating-point round-off errors from different computation orders. To turn them off, set the environment variable `TF_ENABLE_ONEDNN_OPTS=0`. +2025-09-01 18:26:09.186055: E external/local_xla/xla/stream_executor/cuda/cuda_dnn.cc:9261] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered +2025-09-01 18:26:09.186132: E external/local_xla/xla/stream_executor/cuda/cuda_fft.cc:607] Unable to register cuFFT factory: Attempting to register factory for plugin cuFFT when one has already been registered +2025-09-01 18:26:09.187087: E external/local_xla/xla/stream_executor/cuda/cuda_blas.cc:1515] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered +2025-09-01 18:26:09.192299: I tensorflow/core/platform/cpu_feature_guard.cc:182] This TensorFlow binary is optimized to use available CPU instructions in performance-critical operations. +To enable the following instructions: AVX2 AVX512F AVX512_VNNI AVX512_BF16 AVX_VNNI AMX_TILE AMX_INT8 AMX_BF16 FMA, in other operations, rebuild TensorFlow with the appropriate compiler flags. +2025-09-01 18:26:09.786113: W tensorflow/compiler/tf2tensorrt/utils/py_utils.cc:38] TF-TRT Warning: Could not find TensorRT +[robosuite WARNING] No private macro file found! (macros.py:53) +[robosuite WARNING] It is recommended to use a private macro file (macros.py:54) +[robosuite WARNING] To setup, run: python /ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/scripts/setup_macros.py (macros.py:55) +2025-09-01 18:26:12.809603: W tensorflow/core/common_runtime/gpu/gpu_device.cc:2348] TensorFlow was not built with CUDA kernel binaries compatible with compute capability 9.0. CUDA kernels will be jit-compiled from PTX, which could take 30 minutes or longer. +Using LIBERO constants: + NUM_ACTIONS_CHUNK = 8 + ACTION_DIM = 7 + PROPRIO_DIM = 8 + ACTION_PROPRIO_NORMALIZATION_TYPE = bounds_q99 +If needed, manually set the correct constants in `prismatic/vla/constants.py`! +Instantiating pretrained VLA policy... + + +Loaded model: +09/01 [18:26:33] INFO | >> Logging to local log file: run_libero_eval.py:211 + ./experiments/logs/EVAL-libero_ + spatial-openvla-2025_09_01-18_2 + 6_23.txt +[info] using task orders [0, 1, 2, 3, 4, 5, 6, 7, 8, 9] + INFO | >> Task suite: libero_spatial run_libero_eval.py:226 + 0%| | 0/10 [00:00> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=1--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:26:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 1 + INFO | >> # successes: 1 (100.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:05<04:45, 5.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=2--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:26:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 2 + INFO | >> # successes: 2 (100.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:10<04:16, 5.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=3--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:26:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 3 + INFO | >> # successes: 3 (100.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:16<04:12, 5.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=4--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:26:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 4 + INFO | >> # successes: 4 (100.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:21<04:02, 5.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=5--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 5 + INFO | >> # successes: 5 (100.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:26<03:51, 5.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=6--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 6 + INFO | >> # successes: 6 (100.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:31<03:49, 5.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=7--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 7 + INFO | >> # successes: 7 (100.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:36<03:40, 5.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=8--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 8 + INFO | >> # successes: 8 (100.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:41<03:39, 5.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=9--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 9 + INFO | >> # successes: 9 (100.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:47<03:32, 5.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=10--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 10 + INFO | >> # successes: 10 (100.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [00:52<03:24, 5.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=11--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 11 + INFO | >> # successes: 11 (100.0%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [00:57<03:19, 5.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=12--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 12 + INFO | >> # successes: 12 (100.0%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:02<03:14, 5.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=13--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 13 + INFO | >> # successes: 13 (100.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:07<03:12, 5.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=14--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 14 + INFO | >> # successes: 14 (100.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:12<03:08, 5.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=15--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 15 + INFO | >> # successes: 15 (100.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:18<03:07, 5.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=16--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:27:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 16 + INFO | >> # successes: 16 (100.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:23<03:01, 5.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=17--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 17 + INFO | >> # successes: 17 (100.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:29<02:57, 5.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=18--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 18 + INFO | >> # successes: 18 (100.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:34<02:47, 5.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=19--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 19 + INFO | >> # successes: 19 (100.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:39<02:44, 5.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=20--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 20 + INFO | >> # successes: 20 (100.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [01:45<02:42, 5.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=21--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 21 + INFO | >> # successes: 21 (100.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [01:51<02:38, 5.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=22--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 22 + INFO | >> # successes: 22 (100.0%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [01:56<02:31, 5.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=23--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 23 + INFO | >> # successes: 23 (100.0%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:01<02:23, 5.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=24--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 24 + INFO | >> # successes: 24 (100.0%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:06<02:14, 5.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=25--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 25 + INFO | >> # successes: 25 (100.0%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:11<02:10, 5.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=26--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 26 + INFO | >> # successes: 26 (100.0%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:17<02:08, 5.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=27--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:28:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 27 + INFO | >> # successes: 27 (100.0%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:22<02:02, 5.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=28--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:29:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 28 + INFO | >> # successes: 28 (100.0%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:27<01:56, 5.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=29--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:29:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 29 + INFO | >> # successes: 29 (100.0%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:32<01:48, 5.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=30--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:29:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 30 + INFO | >> # successes: 30 (100.0%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [02:37<01:44, 5.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=31--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:29:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 31 + INFO | >> # successes: 31 (100.0%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [02:42<01:37, 5.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=32--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:29:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 32 + INFO | >> # successes: 32 (100.0%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [02:48<01:33, 5.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=33--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:29:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 33 + INFO | >> # successes: 33 (100.0%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [02:53<01:29, 5.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=34--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:29:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 34 + INFO | >> # successes: 34 (100.0%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [02:58<01:23, 5.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=35--success=False--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:29:45] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 35 + INFO | >> # successes: 34 (97.1%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:09<01:45, 7.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=36--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:29:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 36 + INFO | >> # successes: 35 (97.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:14<01:29, 6.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=37--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:29:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 37 + INFO | >> # successes: 36 (97.3%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:20<01:19, 6.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=38--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 38 + INFO | >> # successes: 37 (97.4%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [03:25<01:10, 5.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=39--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 39 + INFO | >> # successes: 38 (97.4%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [03:32<01:06, 6.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=40--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 40 + INFO | >> # successes: 39 (97.5%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [03:37<00:57, 5.74s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=41--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 41 + INFO | >> # successes: 40 (97.6%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [03:42<00:50, 5.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=42--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 42 + INFO | >> # successes: 41 (97.6%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [03:47<00:44, 5.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=43--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 43 + INFO | >> # successes: 42 (97.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [03:53<00:38, 5.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=44--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 44 + INFO | >> # successes: 43 (97.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [03:58<00:32, 5.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=45--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 45 + INFO | >> # successes: 44 (97.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:03<00:26, 5.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=46--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 46 + INFO | >> # successes: 45 (97.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:08<00:20, 5.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=47--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 47 + INFO | >> # successes: 46 (97.9%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:13<00:15, 5.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=48--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 48 + INFO | >> # successes: 47 (97.9%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [04:19<00:10, 5.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=49--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:30:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 49 + INFO | >> # successes: 48 (98.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [04:23<00:05, 5.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + between the plate and the + ramekin and place it on the + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=50--success=True--task=pick_up_the_black_bowl_between_the_plate_and_the_r.mp4 +09/01 [18:31:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 50 + INFO | >> # successes: 49 (98.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [04:29<00:00, 5.18s/it] 100%|██████████| 50/50 [04:29<00:00, 5.38s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.98 + 10%|█ | 1/10 [04:31<40:46, 271.80s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=51--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:31:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 51 + INFO | >> # successes: 50 (98.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:21, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=52--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:31:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 52 + INFO | >> # successes: 51 (98.1%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:12<05:07, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=53--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:31:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 53 + INFO | >> # successes: 52 (98.1%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:19<05:08, 6.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=54--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:31:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 54 + INFO | >> # successes: 53 (98.1%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:25<04:56, 6.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=55--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:31:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 55 + INFO | >> # successes: 54 (98.2%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:32<04:53, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=56--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:31:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 56 + INFO | >> # successes: 55 (98.2%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:39<04:47, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=57--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:31:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 57 + INFO | >> # successes: 56 (98.2%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:46<04:49, 6.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=58--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:31:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 58 + INFO | >> # successes: 57 (98.3%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:53<04:46, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=59--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:32:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 59 + INFO | >> # successes: 58 (98.3%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:59<04:35, 6.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=60--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:32:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 60 + INFO | >> # successes: 59 (98.3%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:06<04:32, 6.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=61--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:32:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 61 + INFO | >> # successes: 60 (98.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:13<04:19, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=62--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:32:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 62 + INFO | >> # successes: 61 (98.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:19<04:10, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=63--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:32:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 63 + INFO | >> # successes: 62 (98.4%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:26<04:04, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=64--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:32:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 64 + INFO | >> # successes: 63 (98.4%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:32<03:58, 6.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=65--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:32:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 65 + INFO | >> # successes: 64 (98.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:39<03:50, 6.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=66--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:32:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 66 + INFO | >> # successes: 65 (98.5%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:45<03:41, 6.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=67--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:32:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 67 + INFO | >> # successes: 66 (98.5%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:51<03:31, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=68--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 68 + INFO | >> # successes: 67 (98.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:58<03:25, 6.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=69--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 69 + INFO | >> # successes: 68 (98.6%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:04<03:15, 6.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=70--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 70 + INFO | >> # successes: 69 (98.6%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:09<03:03, 6.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=71--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 71 + INFO | >> # successes: 70 (98.6%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:15<02:51, 5.92s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=72--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 72 + INFO | >> # successes: 71 (98.6%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:20<02:40, 5.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=73--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 73 + INFO | >> # successes: 72 (98.6%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:25<02:29, 5.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=74--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 74 + INFO | >> # successes: 73 (98.6%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:31<02:23, 5.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=75--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 75 + INFO | >> # successes: 74 (98.7%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:36<02:17, 5.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=76--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 76 + INFO | >> # successes: 75 (98.7%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:42<02:09, 5.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=77--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 77 + INFO | >> # successes: 76 (98.7%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:47<02:05, 5.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=78--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:33:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 78 + INFO | >> # successes: 77 (98.7%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:52<01:59, 5.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=79--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:34:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 79 + INFO | >> # successes: 78 (98.7%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:58<01:53, 5.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=80--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:34:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 80 + INFO | >> # successes: 79 (98.8%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:03<01:47, 5.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=81--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:34:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 81 + INFO | >> # successes: 80 (98.8%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:08<01:42, 5.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=82--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:34:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 82 + INFO | >> # successes: 81 (98.8%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:14<01:35, 5.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=83--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:34:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 83 + INFO | >> # successes: 82 (98.8%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:19<01:31, 5.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=84--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:34:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 84 + INFO | >> # successes: 83 (98.8%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:24<01:25, 5.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=85--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:34:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 85 + INFO | >> # successes: 84 (98.8%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:30<01:23, 5.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=86--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:34:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 86 + INFO | >> # successes: 85 (98.8%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:37<01:22, 5.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=87--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:34:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 87 + INFO | >> # successes: 86 (98.9%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:43<01:18, 6.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=88--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:34:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 88 + INFO | >> # successes: 87 (98.9%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [03:50<01:13, 6.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=89--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:35:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 89 + INFO | >> # successes: 88 (98.9%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [03:57<01:09, 6.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=90--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:35:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 90 + INFO | >> # successes: 89 (98.9%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:03<01:04, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=91--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:35:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 91 + INFO | >> # successes: 90 (98.9%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:10<00:58, 6.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=92--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:35:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 92 + INFO | >> # successes: 91 (98.9%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:16<00:51, 6.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=93--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:35:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 93 + INFO | >> # successes: 92 (98.9%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:23<00:45, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=94--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:35:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 94 + INFO | >> # successes: 93 (98.9%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:29<00:38, 6.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=95--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:35:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 95 + INFO | >> # successes: 94 (98.9%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:36<00:32, 6.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=96--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:35:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 96 + INFO | >> # successes: 95 (99.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:42<00:25, 6.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=97--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:35:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 97 + INFO | >> # successes: 96 (99.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:49<00:19, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=98--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:36:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 98 + INFO | >> # successes: 97 (99.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [04:55<00:13, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=99--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:36:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 99 + INFO | >> # successes: 98 (99.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:02<00:06, 6.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the ramekin and place + it on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=100--success=True--task=pick_up_the_black_bowl_next_to_the_ramekin_and_pla.mp4 +09/01 [18:36:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 100 + INFO | >> # successes: 99 (99.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:09<00:00, 6.63s/it] 100%|██████████| 50/50 [05:09<00:00, 6.18s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.99 + 20%|██ | 2/10 [09:42<39:16, 294.51s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=101--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:36:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 101 + INFO | >> # successes: 100 (99.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<04:55, 6.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=102--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:36:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 102 + INFO | >> # successes: 101 (99.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:11<04:46, 5.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=103--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:36:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 103 + INFO | >> # successes: 102 (99.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:17<04:38, 5.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=104--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:36:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 104 + INFO | >> # successes: 103 (99.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:23<04:34, 5.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=105--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:36:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 105 + INFO | >> # successes: 104 (99.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:29<04:30, 6.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=106--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:36:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 106 + INFO | >> # successes: 105 (99.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:36<04:29, 6.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=107--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:36:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 107 + INFO | >> # successes: 106 (99.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:42<04:26, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=108--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:37:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 108 + INFO | >> # successes: 107 (99.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:49<04:22, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=109--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:37:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 109 + INFO | >> # successes: 108 (99.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:54<04:11, 6.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=110--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:37:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 110 + INFO | >> # successes: 109 (99.1%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:00<04:03, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=111--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:37:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 111 + INFO | >> # successes: 110 (99.1%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:07<03:59, 6.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=112--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:37:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 112 + INFO | >> # successes: 111 (99.1%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:13<03:53, 6.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=113--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:37:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 113 + INFO | >> # successes: 112 (99.1%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:19<03:44, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=114--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:37:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 114 + INFO | >> # successes: 113 (99.1%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:25<03:37, 6.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=115--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:37:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 115 + INFO | >> # successes: 114 (99.1%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:30<03:29, 5.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=116--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:37:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 116 + INFO | >> # successes: 115 (99.1%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:36<03:21, 5.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=117--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:37:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 117 + INFO | >> # successes: 116 (99.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:42<03:16, 5.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=118--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:38:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 118 + INFO | >> # successes: 117 (99.2%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:48<03:09, 5.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=119--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:38:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 119 + INFO | >> # successes: 118 (99.2%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:54<03:07, 6.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=120--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:38:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 120 + INFO | >> # successes: 119 (99.2%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:01<03:01, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=121--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:38:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 121 + INFO | >> # successes: 120 (99.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:07<03:00, 6.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=122--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:38:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 122 + INFO | >> # successes: 121 (99.2%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:13<02:53, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=123--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:38:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 123 + INFO | >> # successes: 122 (99.2%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:19<02:45, 6.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=124--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:38:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 124 + INFO | >> # successes: 123 (99.2%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:25<02:37, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=125--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:38:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 125 + INFO | >> # successes: 124 (99.2%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:32<02:35, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=126--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:38:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 126 + INFO | >> # successes: 125 (99.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:38<02:27, 6.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=127--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:39:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 127 + INFO | >> # successes: 126 (99.2%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:44<02:21, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=128--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:39:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 128 + INFO | >> # successes: 127 (99.2%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:50<02:17, 6.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=129--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:39:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 129 + INFO | >> # successes: 128 (99.2%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:57<02:12, 6.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=130--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:39:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 130 + INFO | >> # successes: 129 (99.2%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:03<02:06, 6.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=131--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:39:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 131 + INFO | >> # successes: 130 (99.2%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:10<02:00, 6.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=132--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:39:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 132 + INFO | >> # successes: 131 (99.2%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:16<01:53, 6.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=133--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:39:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 133 + INFO | >> # successes: 132 (99.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:22<01:46, 6.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=134--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:39:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 134 + INFO | >> # successes: 133 (99.3%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:28<01:40, 6.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=135--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:39:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 135 + INFO | >> # successes: 134 (99.3%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:34<01:33, 6.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=136--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:39:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 136 + INFO | >> # successes: 135 (99.3%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:41<01:27, 6.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=137--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:40:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 137 + INFO | >> # successes: 136 (99.3%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:47<01:22, 6.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=138--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:40:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 138 + INFO | >> # successes: 137 (99.3%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [03:54<01:16, 6.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=139--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:40:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 139 + INFO | >> # successes: 138 (99.3%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:00<01:09, 6.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=140--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:40:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 140 + INFO | >> # successes: 139 (99.3%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:06<01:01, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=141--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:40:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 141 + INFO | >> # successes: 140 (99.3%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:12<00:55, 6.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=142--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:40:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 142 + INFO | >> # successes: 141 (99.3%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:18<00:49, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=143--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:40:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 143 + INFO | >> # successes: 142 (99.3%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:24<00:43, 6.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=144--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:40:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 144 + INFO | >> # successes: 143 (99.3%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:31<00:37, 6.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=145--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:40:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 145 + INFO | >> # successes: 144 (99.3%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:37<00:31, 6.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=146--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:41:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 146 + INFO | >> # successes: 145 (99.3%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:44<00:26, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=147--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:41:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 147 + INFO | >> # successes: 146 (99.3%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:51<00:19, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=148--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:41:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 148 + INFO | >> # successes: 147 (99.3%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [04:58<00:13, 6.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=149--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:41:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 149 + INFO | >> # successes: 148 (99.3%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:05<00:06, 6.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + from table center and place it + on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=150--success=True--task=pick_up_the_black_bowl_from_table_center_and_place.mp4 +09/01 [18:41:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 150 + INFO | >> # successes: 149 (99.3%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:11<00:00, 6.74s/it] 100%|██████████| 50/50 [05:11<00:00, 6.24s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9933333333333333 + 30%|███ | 3/10 [14:55<35:21, 303.07s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=151--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:41:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 151 + INFO | >> # successes: 150 (99.3%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:05<04:33, 5.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=152--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:41:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 152 + INFO | >> # successes: 151 (99.3%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:11<04:31, 5.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=153--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:41:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 153 + INFO | >> # successes: 152 (99.3%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:16<04:25, 5.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=154--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:41:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 154 + INFO | >> # successes: 153 (99.4%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:22<04:20, 5.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=155--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:41:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 155 + INFO | >> # successes: 154 (99.4%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:27<04:10, 5.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=156--success=False--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:42:08] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 156 + INFO | >> # successes: 154 (98.7%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:39<05:26, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=157--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:42:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 157 + INFO | >> # successes: 155 (98.7%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:44<04:56, 6.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=158--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:42:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 158 + INFO | >> # successes: 156 (98.7%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:50<04:29, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=159--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:42:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 159 + INFO | >> # successes: 157 (98.7%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:55<04:11, 6.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=160--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:42:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 160 + INFO | >> # successes: 158 (98.8%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:01<03:56, 5.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=161--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:42:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 161 + INFO | >> # successes: 159 (98.8%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:06<03:47, 5.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=162--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:42:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 162 + INFO | >> # successes: 160 (98.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:12<03:36, 5.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=163--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:42:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 163 + INFO | >> # successes: 161 (98.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:17<03:28, 5.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=164--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:42:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 164 + INFO | >> # successes: 162 (98.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:23<03:24, 5.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=165--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:42:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 165 + INFO | >> # successes: 163 (98.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:29<03:18, 5.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=166--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:43:04] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 166 + INFO | >> # successes: 164 (98.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:34<03:09, 5.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=167--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:43:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 167 + INFO | >> # successes: 165 (98.8%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:40<03:04, 5.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=168--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:43:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 168 + INFO | >> # successes: 166 (98.8%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:45<02:59, 5.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=169--success=False--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:43:27] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 169 + INFO | >> # successes: 166 (98.2%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:57<03:47, 7.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=170--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:43:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 170 + INFO | >> # successes: 167 (98.2%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:02<03:25, 6.84s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=171--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:43:39] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 171 + INFO | >> # successes: 168 (98.2%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:09<03:16, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=172--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:43:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 172 + INFO | >> # successes: 169 (98.3%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:14<02:57, 6.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=173--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:43:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 173 + INFO | >> # successes: 170 (98.3%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:20<02:46, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=174--success=False--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:44:01] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 174 + INFO | >> # successes: 170 (97.7%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:31<03:20, 7.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=175--success=False--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:44:14] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 175 + INFO | >> # successes: 170 (97.1%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:44<03:46, 9.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=176--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:44:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 176 + INFO | >> # successes: 171 (97.2%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:49<03:12, 8.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=177--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:44:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 177 + INFO | >> # successes: 172 (97.2%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:55<02:49, 7.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=178--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:44:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 178 + INFO | >> # successes: 173 (97.2%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:00<02:29, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=179--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:44:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 179 + INFO | >> # successes: 174 (97.2%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:06<02:15, 6.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=180--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:44:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 180 + INFO | >> # successes: 175 (97.2%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:11<02:02, 6.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=181--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:44:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 181 + INFO | >> # successes: 176 (97.2%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:17<01:51, 5.87s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=182--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:44:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 182 + INFO | >> # successes: 177 (97.3%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:22<01:44, 5.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=183--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:44:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 183 + INFO | >> # successes: 178 (97.3%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:28<01:37, 5.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=184--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:45:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 184 + INFO | >> # successes: 179 (97.3%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:35<01:36, 6.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=185--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:45:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 185 + INFO | >> # successes: 180 (97.3%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:42<01:36, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=186--success=False--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:45:24] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 186 + INFO | >> # successes: 180 (96.8%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:54<01:51, 7.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=187--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:45:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 187 + INFO | >> # successes: 181 (96.8%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:59<01:33, 7.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=188--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:45:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 188 + INFO | >> # successes: 182 (96.8%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:05<01:20, 6.68s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=189--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:45:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 189 + INFO | >> # successes: 183 (96.8%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:10<01:08, 6.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=190--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:45:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 190 + INFO | >> # successes: 184 (96.8%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:16<01:01, 6.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=191--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:45:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 191 + INFO | >> # successes: 185 (96.9%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:21<00:53, 5.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=192--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:45:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 192 + INFO | >> # successes: 186 (96.9%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:27<00:46, 5.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=193--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:46:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 193 + INFO | >> # successes: 187 (96.9%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:32<00:39, 5.71s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=194--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:46:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 194 + INFO | >> # successes: 188 (96.9%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:38<00:35, 5.86s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=195--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:46:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 195 + INFO | >> # successes: 189 (96.9%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:44<00:28, 5.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=196--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:46:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 196 + INFO | >> # successes: 190 (96.9%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:49<00:22, 5.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=197--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:46:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 197 + INFO | >> # successes: 191 (97.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:55<00:16, 5.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=198--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:46:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 198 + INFO | >> # successes: 192 (97.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:01<00:11, 5.91s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=199--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:46:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 199 + INFO | >> # successes: 193 (97.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:07<00:05, 5.81s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the cookie box and place it on + the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=200--success=True--task=pick_up_the_black_bowl_on_the_cookie_box_and_place.mp4 +09/01 [18:46:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 200 + INFO | >> # successes: 194 (97.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:13<00:00, 5.78s/it] 100%|██████████| 50/50 [05:13<00:00, 6.26s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.9 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.97 + 40%|████ | 4/10 [20:09<30:45, 307.57s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=201--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:46:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 201 + INFO | >> # successes: 195 (97.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<05:52, 7.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=202--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:46:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 202 + INFO | >> # successes: 196 (97.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:15<06:03, 7.58s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=203--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:47:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 203 + INFO | >> # successes: 197 (97.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:21<05:38, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=204--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:47:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 204 + INFO | >> # successes: 198 (97.1%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:29<05:43, 7.47s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=205--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:47:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 205 + INFO | >> # successes: 199 (97.1%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:37<05:38, 7.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=206--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:47:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 206 + INFO | >> # successes: 200 (97.1%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:44<05:31, 7.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=207--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:47:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 207 + INFO | >> # successes: 201 (97.1%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:52<05:27, 7.62s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=208--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:47:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 208 + INFO | >> # successes: 202 (97.1%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:59<05:12, 7.44s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=209--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:47:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 209 + INFO | >> # successes: 203 (97.1%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:07<05:04, 7.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=210--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:47:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 210 + INFO | >> # successes: 204 (97.1%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:14<05:01, 7.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=211--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:48:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 211 + INFO | >> # successes: 205 (97.2%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:22<04:53, 7.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=212--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:48:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 212 + INFO | >> # successes: 206 (97.2%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:29<04:43, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=213--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:48:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 213 + INFO | >> # successes: 207 (97.2%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:36<04:31, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=214--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:48:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 214 + INFO | >> # successes: 208 (97.2%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:44<04:27, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=215--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:48:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 215 + INFO | >> # successes: 209 (97.2%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:51<04:15, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=216--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:48:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 216 + INFO | >> # successes: 210 (97.2%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:58<04:08, 7.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=217--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:48:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 217 + INFO | >> # successes: 211 (97.2%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:05<04:00, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=218--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:48:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 218 + INFO | >> # successes: 212 (97.2%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:13<03:53, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=219--success=False--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:49:09] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 219 + INFO | >> # successes: 212 (96.8%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:25<04:27, 8.64s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=220--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:49:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 220 + INFO | >> # successes: 213 (96.8%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:32<04:12, 8.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=221--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:49:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 221 + INFO | >> # successes: 214 (96.8%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:40<03:57, 8.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=222--success=False--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:49:36] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 222 + INFO | >> # successes: 214 (96.4%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:52<04:20, 9.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=223--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:49:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 223 + INFO | >> # successes: 215 (96.4%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [03:00<03:57, 8.79s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=224--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:49:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 224 + INFO | >> # successes: 216 (96.4%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [03:07<03:40, 8.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=225--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:49:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 225 + INFO | >> # successes: 217 (96.4%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:15<03:25, 8.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=226--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:50:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 226 + INFO | >> # successes: 218 (96.5%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:22<03:10, 7.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=227--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:50:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 227 + INFO | >> # successes: 219 (96.5%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:29<02:56, 7.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=228--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:50:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 228 + INFO | >> # successes: 220 (96.5%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:37<02:47, 7.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=229--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:50:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 229 + INFO | >> # successes: 221 (96.5%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:44<02:38, 7.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=230--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:50:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 230 + INFO | >> # successes: 222 (96.5%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:52<02:29, 7.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=231--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:50:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 231 + INFO | >> # successes: 223 (96.5%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:59<02:21, 7.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=232--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:50:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 232 + INFO | >> # successes: 224 (96.6%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [04:07<02:15, 7.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=233--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:50:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 233 + INFO | >> # successes: 225 (96.6%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:14<02:08, 7.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=234--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:51:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 234 + INFO | >> # successes: 226 (96.6%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:22<02:01, 7.57s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=235--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:51:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 235 + INFO | >> # successes: 227 (96.6%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:30<01:55, 7.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=236--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:51:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 236 + INFO | >> # successes: 228 (96.6%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:37<01:45, 7.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=237--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:51:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 237 + INFO | >> # successes: 229 (96.6%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:45<01:39, 7.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=238--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:51:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 238 + INFO | >> # successes: 230 (96.6%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:52<01:30, 7.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=239--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:51:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 239 + INFO | >> # successes: 231 (96.7%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [05:00<01:22, 7.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=240--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:51:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 240 + INFO | >> # successes: 232 (96.7%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [05:07<01:15, 7.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=241--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:51:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 241 + INFO | >> # successes: 233 (96.7%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [05:14<01:06, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=242--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:52:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 242 + INFO | >> # successes: 234 (96.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:22<00:59, 7.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=243--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:52:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 243 + INFO | >> # successes: 235 (96.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:29<00:52, 7.46s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=244--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:52:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 244 + INFO | >> # successes: 236 (96.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:37<00:44, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=245--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:52:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 245 + INFO | >> # successes: 237 (96.7%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:44<00:36, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=246--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:52:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 246 + INFO | >> # successes: 238 (96.7%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:51<00:29, 7.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=247--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:52:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 247 + INFO | >> # successes: 239 (96.8%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:59<00:22, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=248--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:52:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 248 + INFO | >> # successes: 240 (96.8%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [06:06<00:15, 7.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=249--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:52:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 249 + INFO | >> # successes: 241 (96.8%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [06:14<00:07, 7.65s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl in + the top drawer of the wooden + cabinet and place it on the + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=250--success=True--task=pick_up_the_black_bowl_in_the_top_drawer_of_the_wo.mp4 +09/01 [18:53:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 250 + INFO | >> # successes: 242 (96.8%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:22<00:00, 7.53s/it] 100%|██████████| 50/50 [06:22<00:00, 7.64s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.968 + 50%|█████ | 5/10 [26:33<27:54, 334.92s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=251--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:53:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 251 + INFO | >> # successes: 243 (96.8%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<04:56, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=252--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:53:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 252 + INFO | >> # successes: 244 (96.8%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:11<04:45, 5.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=253--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:53:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 253 + INFO | >> # successes: 245 (96.8%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:17<04:42, 6.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=254--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:53:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 254 + INFO | >> # successes: 246 (96.9%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:24<04:38, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=255--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:53:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 255 + INFO | >> # successes: 247 (96.9%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:30<04:36, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=256--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:53:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 256 + INFO | >> # successes: 248 (96.9%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:36<04:26, 6.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=257--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:53:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 257 + INFO | >> # successes: 249 (96.9%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:42<04:17, 6.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=258--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:53:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 258 + INFO | >> # successes: 250 (96.9%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:47<04:07, 5.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=259--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:54:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 259 + INFO | >> # successes: 251 (96.9%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:53<04:01, 5.88s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=260--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:54:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 260 + INFO | >> # successes: 252 (96.9%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:00<04:01, 6.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=261--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:54:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 261 + INFO | >> # successes: 253 (96.9%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:06<03:57, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=262--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:54:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 262 + INFO | >> # successes: 254 (96.9%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:11<03:45, 5.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=263--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:54:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 263 + INFO | >> # successes: 255 (97.0%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:18<03:42, 6.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=264--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:54:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 264 + INFO | >> # successes: 256 (97.0%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:24<03:36, 6.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=265--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:54:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 265 + INFO | >> # successes: 257 (97.0%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:29<03:27, 5.94s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=266--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:54:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 266 + INFO | >> # successes: 258 (97.0%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:35<03:22, 5.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=267--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:54:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 267 + INFO | >> # successes: 259 (97.0%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:42<03:19, 6.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=268--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:54:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 268 + INFO | >> # successes: 260 (97.0%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:48<03:12, 6.00s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=269--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:55:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 269 + INFO | >> # successes: 261 (97.0%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:53<03:04, 5.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=270--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:55:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 270 + INFO | >> # successes: 262 (97.0%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:00<03:00, 6.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=271--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:55:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 271 + INFO | >> # successes: 263 (97.0%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:06<02:56, 6.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=272--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:55:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 272 + INFO | >> # successes: 264 (97.1%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:12<02:50, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=273--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:55:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 273 + INFO | >> # successes: 265 (97.1%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:18<02:44, 6.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=274--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:55:32] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 274 + INFO | >> # successes: 266 (97.1%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:24<02:38, 6.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=275--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:55:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 275 + INFO | >> # successes: 267 (97.1%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:30<02:33, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=276--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:55:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 276 + INFO | >> # successes: 268 (97.1%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:36<02:27, 6.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=277--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:55:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 277 + INFO | >> # successes: 269 (97.1%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:46<02:45, 7.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=278--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:56:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 278 + INFO | >> # successes: 270 (97.1%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:52<02:30, 6.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=279--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:56:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 279 + INFO | >> # successes: 271 (97.1%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:58<02:18, 6.59s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=280--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:56:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 280 + INFO | >> # successes: 272 (97.1%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:05<02:10, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=281--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:56:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 281 + INFO | >> # successes: 273 (97.2%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:10<02:00, 6.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=282--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:56:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 282 + INFO | >> # successes: 274 (97.2%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:17<01:53, 6.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=283--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:56:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 283 + INFO | >> # successes: 275 (97.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:23<01:45, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=284--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:56:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 284 + INFO | >> # successes: 276 (97.2%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:29<01:38, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=285--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:56:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 285 + INFO | >> # successes: 277 (97.2%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:34<01:30, 6.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=286--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:56:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 286 + INFO | >> # successes: 278 (97.2%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:40<01:24, 6.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=287--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:56:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 287 + INFO | >> # successes: 279 (97.2%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:47<01:18, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=288--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:57:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 288 + INFO | >> # successes: 280 (97.2%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [03:53<01:12, 6.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=289--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:57:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 289 + INFO | >> # successes: 281 (97.2%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [03:59<01:07, 6.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=290--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:57:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 290 + INFO | >> # successes: 282 (97.2%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:05<01:01, 6.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=291--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:57:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 291 + INFO | >> # successes: 283 (97.3%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:12<00:56, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=292--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:57:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 292 + INFO | >> # successes: 284 (97.3%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:17<00:48, 6.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=293--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:57:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 293 + INFO | >> # successes: 285 (97.3%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:23<00:42, 6.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=294--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:57:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 294 + INFO | >> # successes: 286 (97.3%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:29<00:36, 6.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=295--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:57:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 295 + INFO | >> # successes: 287 (97.3%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:35<00:30, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=296--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:57:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 296 + INFO | >> # successes: 288 (97.3%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:42<00:24, 6.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=297--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:57:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 297 + INFO | >> # successes: 289 (97.3%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:48<00:18, 6.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=298--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:58:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 298 + INFO | >> # successes: 290 (97.3%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [04:54<00:12, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=299--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:58:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 299 + INFO | >> # successes: 291 (97.3%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:00<00:06, 6.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the ramekin and place it on the + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=300--success=True--task=pick_up_the_black_bowl_on_the_ramekin_and_place_it.mp4 +09/01 [18:58:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 300 + INFO | >> # successes: 292 (97.3%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:06<00:00, 6.06s/it] 100%|██████████| 50/50 [05:06<00:00, 6.13s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9733333333333334 + 60%|██████ | 6/10 [31:41<21:42, 325.68s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=301--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:58:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 301 + INFO | >> # successes: 293 (97.3%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:06<05:30, 6.75s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=302--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:58:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 302 + INFO | >> # successes: 294 (97.4%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:13<05:11, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=303--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:58:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 303 + INFO | >> # successes: 295 (97.4%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:19<05:00, 6.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=304--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:58:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 304 + INFO | >> # successes: 296 (97.4%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:25<04:52, 6.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=305--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:58:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 305 + INFO | >> # successes: 297 (97.4%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:31<04:45, 6.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=306--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:58:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 306 + INFO | >> # successes: 298 (97.4%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:38<04:47, 6.52s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=307--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:59:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 307 + INFO | >> # successes: 299 (97.4%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:45<04:41, 6.54s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=308--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:59:07] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 308 + INFO | >> # successes: 300 (97.4%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:52<04:37, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=309--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:59:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 309 + INFO | >> # successes: 301 (97.4%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:58<04:31, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=310--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:59:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 310 + INFO | >> # successes: 302 (97.4%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:04<04:19, 6.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=311--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:59:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 311 + INFO | >> # successes: 303 (97.4%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:11<04:17, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=312--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:59:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 312 + INFO | >> # successes: 304 (97.4%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:18<04:06, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=313--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:59:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 313 + INFO | >> # successes: 305 (97.4%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:24<04:00, 6.51s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=314--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:59:46] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 314 + INFO | >> # successes: 306 (97.5%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:30<03:50, 6.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=315--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:59:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 315 + INFO | >> # successes: 307 (97.5%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:37<03:46, 6.48s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=316--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [18:59:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 316 + INFO | >> # successes: 308 (97.5%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:43<03:38, 6.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=317--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:00:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 317 + INFO | >> # successes: 309 (97.5%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:49<03:27, 6.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=318--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:00:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 318 + INFO | >> # successes: 310 (97.5%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:55<03:20, 6.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=319--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:00:17] INFO | >> Success: True run_libero_eval.py:226 +09/01 [19:00:18] INFO | >> # episodes completed so run_libero_eval.py:226 + far: 319 + INFO | >> # successes: 311 (97.5%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:02<03:16, 6.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=320--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:00:24] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 320 + INFO | >> # successes: 312 (97.5%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:08<03:09, 6.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=321--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:00:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 321 + INFO | >> # successes: 313 (97.5%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:15<03:05, 6.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=322--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:00:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 322 + INFO | >> # successes: 314 (97.5%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:22<03:01, 6.50s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=323--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:00:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 323 + INFO | >> # successes: 315 (97.5%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:28<02:51, 6.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=324--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:00:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 324 + INFO | >> # successes: 316 (97.5%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:34<02:44, 6.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=325--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:00:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 325 + INFO | >> # successes: 317 (97.5%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:40<02:36, 6.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=326--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 326 + INFO | >> # successes: 318 (97.5%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:46<02:31, 6.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=327--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 327 + INFO | >> # successes: 319 (97.6%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:53<02:30, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=328--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 328 + INFO | >> # successes: 320 (97.6%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:00<02:25, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=329--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 329 + INFO | >> # successes: 321 (97.6%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:07<02:19, 6.66s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=330--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 330 + INFO | >> # successes: 322 (97.6%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:12<02:04, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=331--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 331 + INFO | >> # successes: 323 (97.6%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:18<01:53, 5.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=332--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 332 + INFO | >> # successes: 324 (97.6%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:23<01:43, 5.73s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=333--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 333 + INFO | >> # successes: 325 (97.6%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:28<01:35, 5.63s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=334--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 334 + INFO | >> # successes: 326 (97.6%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:34<01:28, 5.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=335--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 335 + INFO | >> # successes: 327 (97.6%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:39<01:21, 5.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=336--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:01:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 336 + INFO | >> # successes: 328 (97.6%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:44<01:15, 5.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=337--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:02:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 337 + INFO | >> # successes: 329 (97.6%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:49<01:09, 5.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=338--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:02:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 338 + INFO | >> # successes: 330 (97.6%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [03:54<01:03, 5.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=339--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:02:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 339 + INFO | >> # successes: 331 (97.6%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:00<00:58, 5.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=340--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:02:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 340 + INFO | >> # successes: 332 (97.6%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:05<00:53, 5.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=341--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:02:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 341 + INFO | >> # successes: 333 (97.7%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:10<00:47, 5.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=342--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:02:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 342 + INFO | >> # successes: 334 (97.7%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:16<00:42, 5.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=343--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:02:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 343 + INFO | >> # successes: 335 (97.7%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:21<00:37, 5.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=344--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:02:42] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 344 + INFO | >> # successes: 336 (97.7%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:27<00:32, 5.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=345--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:02:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 345 + INFO | >> # successes: 337 (97.7%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:33<00:28, 5.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=346--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:02:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 346 + INFO | >> # successes: 338 (97.7%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:39<00:23, 5.78s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=347--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:03:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 347 + INFO | >> # successes: 339 (97.7%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:45<00:17, 5.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=348--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:03:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 348 + INFO | >> # successes: 340 (97.7%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [04:52<00:12, 6.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=349--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:03:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 349 + INFO | >> # successes: 341 (97.7%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [04:59<00:06, 6.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the cookie box and + place it on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=350--success=True--task=pick_up_the_black_bowl_next_to_the_cookie_box_and_.mp4 +09/01 [19:03:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 350 + INFO | >> # successes: 342 (97.7%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:05<00:00, 6.37s/it] 100%|██████████| 50/50 [05:05<00:00, 6.11s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.9771428571428571 + 70%|███████ | 7/10 [36:48<15:58, 319.58s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=351--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:03:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 351 + INFO | >> # successes: 343 (97.7%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<05:54, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=352--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:03:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 352 + INFO | >> # successes: 344 (97.7%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:50, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=353--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:03:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 353 + INFO | >> # successes: 345 (97.7%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:21<05:45, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=354--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:03:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 354 + INFO | >> # successes: 346 (97.7%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:29<05:35, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=355--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:03:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 355 + INFO | >> # successes: 347 (97.7%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:36<05:28, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=356--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:04:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 356 + INFO | >> # successes: 348 (97.8%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:43<05:20, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=357--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:04:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 357 + INFO | >> # successes: 349 (97.8%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:50<05:11, 7.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=358--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:04:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 358 + INFO | >> # successes: 350 (97.8%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:58<05:07, 7.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=359--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:04:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 359 + INFO | >> # successes: 351 (97.8%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:06<05:07, 7.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=360--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:04:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 360 + INFO | >> # successes: 352 (97.8%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:13<04:58, 7.45s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=361--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:04:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 361 + INFO | >> # successes: 353 (97.8%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:20<04:45, 7.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=362--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:04:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 362 + INFO | >> # successes: 354 (97.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:28<04:38, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=363--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:04:57] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 363 + INFO | >> # successes: 355 (97.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:34<04:25, 7.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=364--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:05:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 364 + INFO | >> # successes: 356 (97.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:42<04:24, 7.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=365--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:05:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 365 + INFO | >> # successes: 357 (97.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:49<04:08, 7.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=366--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:05:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 366 + INFO | >> # successes: 358 (97.8%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:56<04:07, 7.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=367--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:05:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 367 + INFO | >> # successes: 359 (97.8%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:04<04:03, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=368--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:05:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 368 + INFO | >> # successes: 360 (97.8%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:11<03:55, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=369--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:05:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 369 + INFO | >> # successes: 361 (97.8%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:18<03:45, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=370--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:05:48] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 370 + INFO | >> # successes: 362 (97.8%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:25<03:33, 7.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=371--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:05:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 371 + INFO | >> # successes: 363 (97.8%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:32<03:26, 7.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=372--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:06:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 372 + INFO | >> # successes: 364 (97.8%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:39<03:15, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=373--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:06:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 373 + INFO | >> # successes: 365 (97.9%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:46<03:13, 7.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=374--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:06:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 374 + INFO | >> # successes: 366 (97.9%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:54<03:05, 7.15s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=375--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:06:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 375 + INFO | >> # successes: 367 (97.9%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:01<02:58, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=376--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:06:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 376 + INFO | >> # successes: 368 (97.9%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:08<02:50, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=377--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:06:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 377 + INFO | >> # successes: 369 (97.9%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:15<02:44, 7.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=378--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:06:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 378 + INFO | >> # successes: 370 (97.9%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:22<02:39, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=379--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:06:52] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 379 + INFO | >> # successes: 371 (97.9%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:30<02:31, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=380--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:06:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 380 + INFO | >> # successes: 372 (97.9%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:37<02:24, 7.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=381--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:07:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 381 + INFO | >> # successes: 373 (97.9%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:44<02:14, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=382--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:07:14] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 382 + INFO | >> # successes: 374 (97.9%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:51<02:09, 7.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=383--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:07:21] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 383 + INFO | >> # successes: 375 (97.9%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:58<02:03, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=384--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:07:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 384 + INFO | >> # successes: 376 (97.9%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:06<01:56, 7.26s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=385--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:07:36] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 385 + INFO | >> # successes: 377 (97.9%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:13<01:49, 7.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=386--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:07:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 386 + INFO | >> # successes: 378 (97.9%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:21<01:43, 7.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=387--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:07:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 387 + INFO | >> # successes: 379 (97.9%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:28<01:35, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=388--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:07:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 388 + INFO | >> # successes: 380 (97.9%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:35<01:29, 7.42s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=389--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:08:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 389 + INFO | >> # successes: 381 (97.9%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:43<01:21, 7.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=390--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:08:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 390 + INFO | >> # successes: 382 (97.9%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:50<01:12, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=391--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:08:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 391 + INFO | >> # successes: 383 (98.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:57<01:05, 7.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=392--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:08:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 392 + INFO | >> # successes: 384 (98.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:04<00:58, 7.32s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=393--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:08:34] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 393 + INFO | >> # successes: 385 (98.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:12<00:50, 7.27s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=394--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:08:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 394 + INFO | >> # successes: 386 (98.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:19<00:43, 7.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=395--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:08:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 395 + INFO | >> # successes: 387 (98.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:26<00:36, 7.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=396--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:08:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 396 + INFO | >> # successes: 388 (98.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:34<00:29, 7.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=397--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:09:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 397 + INFO | >> # successes: 389 (98.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:41<00:21, 7.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=398--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:09:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 398 + INFO | >> # successes: 390 (98.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:48<00:14, 7.13s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=399--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:09:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 399 + INFO | >> # successes: 391 (98.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:55<00:07, 7.16s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the stove and place it on the + plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=400--success=True--task=pick_up_the_black_bowl_on_the_stove_and_place_it_o.mp4 +09/01 [19:09:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 400 + INFO | >> # successes: 392 (98.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:02<00:00, 7.23s/it] 100%|██████████| 50/50 [06:02<00:00, 7.25s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 1.0 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.98 + 80%|████████ | 8/10 [42:52<11:07, 333.72s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=401--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:09:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 401 + INFO | >> # successes: 393 (98.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:05<04:30, 5.53s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=402--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:09:38] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 402 + INFO | >> # successes: 394 (98.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:11<04:46, 5.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=403--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:09:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 403 + INFO | >> # successes: 395 (98.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:18<04:47, 6.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=404--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:09:50] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 404 + INFO | >> # successes: 396 (98.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:24<04:39, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=405--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:09:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 405 + INFO | >> # successes: 397 (98.0%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:30<04:32, 6.06s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=406--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:10:02] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 406 + INFO | >> # successes: 398 (98.0%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:35<04:22, 5.97s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=407--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:10:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 407 + INFO | >> # successes: 399 (98.0%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:44<04:50, 6.77s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=408--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:10:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 408 + INFO | >> # successes: 400 (98.0%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [00:50<04:37, 6.61s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=409--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:10:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 409 + INFO | >> # successes: 401 (98.0%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [00:57<04:28, 6.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=410--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:10:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 410 + INFO | >> # successes: 402 (98.0%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:03<04:15, 6.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=411--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:10:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 411 + INFO | >> # successes: 403 (98.1%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:08<04:03, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=412--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:10:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 412 + INFO | >> # successes: 404 (98.1%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:14<03:51, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=413--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:10:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 413 + INFO | >> # successes: 405 (98.1%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:20<03:45, 6.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=414--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:10:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 414 + INFO | >> # successes: 406 (98.1%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:26<03:38, 6.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=415--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:10:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 415 + INFO | >> # successes: 407 (98.1%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:32<03:30, 6.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=416--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:11:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 416 + INFO | >> # successes: 408 (98.1%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:38<03:25, 6.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=417--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:11:11] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 417 + INFO | >> # successes: 409 (98.1%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [01:45<03:21, 6.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=418--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:11:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 418 + INFO | >> # successes: 410 (98.1%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [01:51<03:15, 6.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=419--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:11:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 419 + INFO | >> # successes: 411 (98.1%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [01:56<03:05, 5.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=420--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:11:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 420 + INFO | >> # successes: 412 (98.1%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:03<03:04, 6.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=421--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:11:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 421 + INFO | >> # successes: 413 (98.1%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:09<02:56, 6.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=422--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:11:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 422 + INFO | >> # successes: 414 (98.1%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:15<02:51, 6.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=423--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:11:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 423 + INFO | >> # successes: 415 (98.1%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:21<02:44, 6.07s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=424--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:11:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 424 + INFO | >> # successes: 416 (98.1%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:27<02:36, 6.01s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=425--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:11:59] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 425 + INFO | >> # successes: 417 (98.1%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [02:33<02:28, 5.95s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=426--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:12:06] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 426 + INFO | >> # successes: 418 (98.1%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [02:40<02:30, 6.29s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=427--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:12:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 427 + INFO | >> # successes: 419 (98.1%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [02:46<02:23, 6.22s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=428--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:12:18] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 428 + INFO | >> # successes: 420 (98.1%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [02:52<02:16, 6.19s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=429--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:12:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 429 + INFO | >> # successes: 421 (98.1%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [02:58<02:10, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=430--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:12:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 430 + INFO | >> # successes: 422 (98.1%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:05<02:07, 6.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=431--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:12:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 431 + INFO | >> # successes: 423 (98.1%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:11<01:58, 6.24s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=432--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:12:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 432 + INFO | >> # successes: 424 (98.1%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:17<01:50, 6.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=433--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:12:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 433 + INFO | >> # successes: 425 (98.2%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [03:23<01:43, 6.11s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=434--success=False--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:13:01] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 434 + INFO | >> # successes: 425 (97.9%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [03:34<02:02, 7.67s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=435--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:13:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 435 + INFO | >> # successes: 426 (97.9%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [03:41<01:52, 7.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=436--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:13:13] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 436 + INFO | >> # successes: 427 (97.9%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [03:47<01:37, 6.99s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=437--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:13:20] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 437 + INFO | >> # successes: 428 (97.9%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [03:53<01:27, 6.70s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=438--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:13:25] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 438 + INFO | >> # successes: 429 (97.9%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [03:59<01:16, 6.39s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=439--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:13:31] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 439 + INFO | >> # successes: 430 (97.9%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:05<01:08, 6.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=440--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:13:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 440 + INFO | >> # successes: 431 (98.0%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:11<01:02, 6.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=441--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:13:43] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 441 + INFO | >> # successes: 432 (98.0%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:17<00:55, 6.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=442--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:13:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 442 + INFO | >> # successes: 433 (98.0%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [04:23<00:48, 6.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=443--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:13:55] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 443 + INFO | >> # successes: 434 (98.0%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [04:28<00:41, 5.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=444--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:14:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 444 + INFO | >> # successes: 435 (98.0%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [04:35<00:36, 6.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=445--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:14:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 445 + INFO | >> # successes: 436 (98.0%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [04:42<00:32, 6.43s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=446--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:14:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 446 + INFO | >> # successes: 437 (98.0%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [04:48<00:25, 6.40s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=447--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:14:20] INFO | >> Success: True run_libero_eval.py:226 +09/01 [19:14:21] INFO | >> # episodes completed so run_libero_eval.py:226 + far: 447 + INFO | >> # successes: 438 (98.0%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [04:54<00:18, 6.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=448--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:14:27] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 448 + INFO | >> # successes: 439 (98.0%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:01<00:12, 6.34s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=449--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:14:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 449 + INFO | >> # successes: 440 (98.0%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:07<00:06, 6.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl + next to the plate and place it + on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=450--success=True--task=pick_up_the_black_bowl_next_to_the_plate_and_place.mp4 +09/01 [19:14:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 450 + INFO | >> # successes: 441 (98.0%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [05:13<00:00, 6.36s/it] 100%|██████████| 50/50 [05:13<00:00, 6.28s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.98 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.98 + 90%|█████████ | 9/10 [48:07<05:27, 327.90s/it][Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + INFO | >> Using default initial run_libero_eval.py:226 + states +[Warning]: datasets path ../../LIBERO/libero/libero/../datasets does not exist! + + 0%| | 0/50 [00:00> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 1... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=451--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:14:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 451 + INFO | >> # successes: 442 (98.0%) run_libero_eval.py:226 + + 2%|▏ | 1/50 [00:07<06:01, 7.37s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 2... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=452--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:14:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 452 + INFO | >> # successes: 443 (98.0%) run_libero_eval.py:226 + + 4%|▍ | 2/50 [00:14<05:55, 7.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 3... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=453--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:15:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 453 + INFO | >> # successes: 444 (98.0%) run_libero_eval.py:226 + + 6%|▌ | 3/50 [00:21<05:30, 7.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 4... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=454--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:15:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 454 + INFO | >> # successes: 445 (98.0%) run_libero_eval.py:226 + + 8%|▊ | 4/50 [00:28<05:17, 6.90s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 5... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=455--success=False--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:15:21] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 455 + INFO | >> # successes: 445 (97.8%) run_libero_eval.py:226 + + 10%|█ | 5/50 [00:39<06:24, 8.55s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 6... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=456--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:15:28] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 456 + INFO | >> # successes: 446 (97.8%) run_libero_eval.py:226 + + 12%|█▏ | 6/50 [00:46<05:50, 7.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 7... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=457--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:15:35] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 457 + INFO | >> # successes: 447 (97.8%) run_libero_eval.py:226 + + 14%|█▍ | 7/50 [00:53<05:31, 7.72s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 8... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=458--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:15:41] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 458 + INFO | >> # successes: 448 (97.8%) run_libero_eval.py:226 + + 16%|█▌ | 8/50 [01:00<05:09, 7.36s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 9... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=459--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:15:49] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 459 + INFO | >> # successes: 449 (97.8%) run_libero_eval.py:226 + + 18%|█▊ | 9/50 [01:07<04:59, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 10... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=460--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:15:56] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 460 + INFO | >> # successes: 450 (97.8%) run_libero_eval.py:226 + + 20%|██ | 10/50 [01:14<04:49, 7.23s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 11... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=461--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:16:03] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 461 + INFO | >> # successes: 451 (97.8%) run_libero_eval.py:226 + + 22%|██▏ | 11/50 [01:21<04:45, 7.31s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 12... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=462--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:16:10] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 462 + INFO | >> # successes: 452 (97.8%) run_libero_eval.py:226 + + 24%|██▍ | 12/50 [01:29<04:37, 7.30s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 13... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=463--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:16:17] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 463 + INFO | >> # successes: 453 (97.8%) run_libero_eval.py:226 + + 26%|██▌ | 13/50 [01:35<04:23, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 14... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=464--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:16:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 464 + INFO | >> # successes: 454 (97.8%) run_libero_eval.py:226 + + 28%|██▊ | 14/50 [01:44<04:32, 7.56s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 15... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=465--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:16:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 465 + INFO | >> # successes: 455 (97.8%) run_libero_eval.py:226 + + 30%|███ | 15/50 [01:51<04:19, 7.41s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 16... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=466--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:16:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 466 + INFO | >> # successes: 456 (97.9%) run_libero_eval.py:226 + + 32%|███▏ | 16/50 [01:58<04:11, 7.38s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 17... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=467--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:16:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 467 + INFO | >> # successes: 457 (97.9%) run_libero_eval.py:226 + + 34%|███▍ | 17/50 [02:05<03:56, 7.18s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 18... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=468--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:16:54] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 468 + INFO | >> # successes: 458 (97.9%) run_libero_eval.py:226 + + 36%|███▌ | 18/50 [02:12<03:48, 7.14s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 19... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=469--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:17:01] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 469 + INFO | >> # successes: 459 (97.9%) run_libero_eval.py:226 + + 38%|███▊ | 19/50 [02:20<03:44, 7.25s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 20... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=470--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:17:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 470 + INFO | >> # successes: 460 (97.9%) run_libero_eval.py:226 + + 40%|████ | 20/50 [02:27<03:38, 7.28s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 21... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=471--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:17:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 471 + INFO | >> # successes: 461 (97.9%) run_libero_eval.py:226 + + 42%|████▏ | 21/50 [02:34<03:28, 7.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 22... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=472--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:17:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 472 + INFO | >> # successes: 462 (97.9%) run_libero_eval.py:226 + + 44%|████▍ | 22/50 [02:41<03:21, 7.20s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 23... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=473--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:17:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 473 + INFO | >> # successes: 463 (97.9%) run_libero_eval.py:226 + + 46%|████▌ | 23/50 [02:48<03:14, 7.21s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 24... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=474--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:17:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 474 + INFO | >> # successes: 464 (97.9%) run_libero_eval.py:226 + + 48%|████▊ | 24/50 [02:55<03:05, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 25... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=475--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:17:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 475 + INFO | >> # successes: 465 (97.9%) run_libero_eval.py:226 + + 50%|█████ | 25/50 [03:02<02:56, 7.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 26... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=476--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:17:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 476 + INFO | >> # successes: 466 (97.9%) run_libero_eval.py:226 + + 52%|█████▏ | 26/50 [03:09<02:49, 7.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 27... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=477--success=False--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:18:02] INFO | >> Success: False run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 477 + INFO | >> # successes: 466 (97.7%) run_libero_eval.py:226 + + 54%|█████▍ | 27/50 [03:21<03:11, 8.33s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 28... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=478--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:18:09] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 478 + INFO | >> # successes: 467 (97.7%) run_libero_eval.py:226 + + 56%|█████▌ | 28/50 [03:27<02:52, 7.83s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 29... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=479--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:18:16] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 479 + INFO | >> # successes: 468 (97.7%) run_libero_eval.py:226 + + 58%|█████▊ | 29/50 [03:34<02:39, 7.60s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 30... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=480--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:18:23] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 480 + INFO | >> # successes: 469 (97.7%) run_libero_eval.py:226 + + 60%|██████ | 30/50 [03:42<02:29, 7.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 31... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=481--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:18:30] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 481 + INFO | >> # successes: 470 (97.7%) run_libero_eval.py:226 + + 62%|██████▏ | 31/50 [03:49<02:19, 7.35s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 32... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=482--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:18:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 482 + INFO | >> # successes: 471 (97.7%) run_libero_eval.py:226 + + 64%|██████▍ | 32/50 [03:55<02:09, 7.17s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 33... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=483--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:18:44] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 483 + INFO | >> # successes: 472 (97.7%) run_libero_eval.py:226 + + 66%|██████▌ | 33/50 [04:02<01:58, 6.98s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 34... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=484--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:18:51] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 484 + INFO | >> # successes: 473 (97.7%) run_libero_eval.py:226 + + 68%|██████▊ | 34/50 [04:09<01:53, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 35... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=485--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:18:58] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 485 + INFO | >> # successes: 474 (97.7%) run_libero_eval.py:226 + + 70%|███████ | 35/50 [04:16<01:46, 7.09s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 36... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=486--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:19:05] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 486 + INFO | >> # successes: 475 (97.7%) run_libero_eval.py:226 + + 72%|███████▏ | 36/50 [04:23<01:38, 7.05s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 37... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=487--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:19:12] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 487 + INFO | >> # successes: 476 (97.7%) run_libero_eval.py:226 + + 74%|███████▍ | 37/50 [04:30<01:29, 6.89s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 38... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=488--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:19:19] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 488 + INFO | >> # successes: 477 (97.7%) run_libero_eval.py:226 + + 76%|███████▌ | 38/50 [04:37<01:24, 7.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 39... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=489--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:19:26] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 489 + INFO | >> # successes: 478 (97.8%) run_libero_eval.py:226 + + 78%|███████▊ | 39/50 [04:44<01:18, 7.12s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 40... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=490--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:19:33] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 490 + INFO | >> # successes: 479 (97.8%) run_libero_eval.py:226 + + 80%|████████ | 40/50 [04:51<01:10, 7.03s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 41... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=491--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:19:40] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 491 + INFO | >> # successes: 480 (97.8%) run_libero_eval.py:226 + + 82%|████████▏ | 41/50 [04:58<01:02, 6.96s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 42... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=492--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:19:47] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 492 + INFO | >> # successes: 481 (97.8%) run_libero_eval.py:226 + + 84%|████████▍ | 42/50 [05:05<00:55, 6.93s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 43... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=493--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:19:53] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 493 + INFO | >> # successes: 482 (97.8%) run_libero_eval.py:226 + + 86%|████████▌ | 43/50 [05:11<00:47, 6.82s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 44... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=494--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:20:00] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 494 + INFO | >> # successes: 483 (97.8%) run_libero_eval.py:226 + + 88%|████████▊ | 44/50 [05:18<00:41, 6.85s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 45... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=495--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:20:08] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 495 + INFO | >> # successes: 484 (97.8%) run_libero_eval.py:226 + + 90%|█████████ | 45/50 [05:26<00:35, 7.04s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 46... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=496--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:20:15] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 496 + INFO | >> # successes: 485 (97.8%) run_libero_eval.py:226 + + 92%|█████████▏| 46/50 [05:33<00:28, 7.10s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 47... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=497--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:20:22] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 497 + INFO | >> # successes: 486 (97.8%) run_libero_eval.py:226 + + 94%|█████████▍| 47/50 [05:40<00:21, 7.08s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 48... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=498--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:20:29] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 498 + INFO | >> # successes: 487 (97.8%) run_libero_eval.py:226 + + 96%|█████████▌| 48/50 [05:47<00:14, 7.02s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 49... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=499--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:20:37] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 499 + INFO | >> # successes: 488 (97.8%) run_libero_eval.py:226 + + 98%|█████████▊| 49/50 [05:56<00:07, 7.49s/it] INFO | >> run_libero_eval.py:226 + Task: pick up the black bowl on + the wooden cabinet and place it + on the plate + INFO | >> Starting episode 50... run_libero_eval.py:226 +huggingface/tokenizers: The current process just got forked, after parallelism has already been used. Disabling parallelism to avoid deadlocks... +To disable this warning, you can either: + - Avoid using `tokenizers` before the fork if possible + - Explicitly set the environment variable TOKENIZERS_PARALLELISM=(true | false) +Saved rollout MP4 at path ./rollouts/vla-adapter/2025_09_01/2025_09_01-18_26_23--episode=500--success=True--task=pick_up_the_black_bowl_on_the_wooden_cabinet_and_p.mp4 +09/01 [19:20:45] INFO | >> Success: True run_libero_eval.py:226 + INFO | >> # episodes completed so run_libero_eval.py:226 + far: 500 + INFO | >> # successes: 489 (97.8%) run_libero_eval.py:226 + + 100%|██████████| 50/50 [06:03<00:00, 7.38s/it] 100%|██████████| 50/50 [06:03<00:00, 7.27s/it] + INFO | >> Current task success rate: run_libero_eval.py:226 + 0.96 + INFO | >> Current total success run_libero_eval.py:226 + rate: 0.978 + 100%|██████████| 10/10 [54:11<00:00, 339.24s/it] 100%|██████████| 10/10 [54:11<00:00, 325.18s/it] + INFO | >> Final results: run_libero_eval.py:226 + INFO | >> Total episodes: 500 run_libero_eval.py:226 + INFO | >> Total successes: 489 run_libero_eval.py:226 + INFO | >> Overall success rate: run_libero_eval.py:226 + 0.9780 (97.8%) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/utils/binding_utils.py", line 199, in __del__ + self.gl_ctx.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) +Exception ignored in: +Traceback (most recent call last): + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 155, in __del__ + self.free() + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/robosuite/renderers/context/egl_context.py", line 149, in free + EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT) + File "/ssdwork/miniconda3/envs/vla-adapter/lib/python3.10/site-packages/OpenGL/error.py", line 230, in glCheckError + raise self._errorClass( +OpenGL.raw.EGL._errors.EGLError: EGLError( + err = EGL_NOT_INITIALIZED, + baseOperation = eglMakeCurrent, + cArguments = ( + , + , + , + , + ), + result = 0 +) diff --git a/VLA-Adapter-UAV/experiments/robot/__pycache__/openvla_utils.cpython-310.pyc b/VLA-Adapter-UAV/experiments/robot/__pycache__/openvla_utils.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..213d569e362503719074f5ef3e86822cb5e99747 Binary files /dev/null and b/VLA-Adapter-UAV/experiments/robot/__pycache__/openvla_utils.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/README.md b/VLA-Adapter-UAV/experiments/robot/aloha/README.md new file mode 100644 index 0000000000000000000000000000000000000000..ac26ac46cb2db1cfe885ea75753d4a821ed6376c --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/README.md @@ -0,0 +1,251 @@ +
+ +## Demo + + + +
+ +**Sandwich Assembly** — Pick bread from rack → place on tray → add lettuce → add ham → cover with bread + +Cobot Magic  |  Bimanual 14-DOF  |  3-Camera  |  2× Speed + +
+ +--- + +# ALOHA Real-World + +Training, deployment, and evaluation pipeline for the ALOHA bimanual robot. For base installation, see the project root [`README.md`](../../../README.md). Successfully verified on [Cobot Magic](https://global.agilex.ai/products/cobot-magic). + +## Directory Structure + +``` +experiments/robot/aloha/ +├── train_files/ +│ ├── train_aloha.sh # Training launcher (4-GPU torchrun) +│ ├── setup_training.sh # Dataset registration + optional local model loading +│ ├── download_models.sh # Download pretrained models (Qwen, DINOv2, SigLIP, Prismatic VLM) +│ ├── qwen25.py # Drop-in replacement for local Qwen loading +│ ├── materialize_local_vision.py # Drop-in replacement for local vision model loading +│ └── dinosiglip_vit_local_vision.py # Drop-in replacement for local DINOv2+SigLIP loading +├── eval_files/ +│ ├── deploy_server.sh # Launch inference server (MsgPack HTTP) +│ ├── run_eval_client.sh # Real robot client (requires ROS) +│ └── run_eval_client_fake.sh # Fake-data client (no ROS needed, for sanity-checking the pipeline) +├── run_cobot_client.py # Real ROS inference loop (3 cameras + bimanual 14-DOF) +├── run_fake_cobot_client.py # Fake-data inference loop (generates synthetic observations) +├── requirements_aloha.txt # ALOHA-specific dependencies +└── README.md +``` + +## Prerequisites + +After completing the base installation from the root directory, install the ALOHA-specific dependencies: + +```bash +pip install -r experiments/robot/aloha/requirements_aloha.txt +``` + +> **Real-robot deployment only**: `run_cobot_client.py` depends on ROS (`rospy`, `cv_bridge`, `sensor_msgs`, etc.) and must be run inside a ROS environment on the robot machine. The fake client `run_fake_cobot_client.py` does not require ROS. + +## Sanity Check: Verify the Inference Pipeline + +To confirm the inference pipeline works end-to-end without training, download an example checkpoint and run the server + fake client. + +```bash +# 1. Download the example checkpoint +huggingface-cli download --resume-download SII-CDZ/test_aloha_adapter \ + --local-dir /path/to/SII-CDZ/test_aloha_adapter + +# 2. Start the inference server (set PRETRAINED_CHECKPOINT in deploy_server.sh to the path above) +bash experiments/robot/aloha/eval_files/deploy_server.sh + +# 3. In another terminal, run the fake-data client (no ROS / real robot required) +bash experiments/robot/aloha/eval_files/run_eval_client_fake.sh +``` + +The fake client sends synthetic 480x640x3 images and 14-DOF joint states to the server and checks whether action sequences are returned correctly. See [Deployment](#deployment) for detailed configuration. + +## Pipeline + +```bash +# 0. (Optional) Download pretrained models locally +bash experiments/robot/aloha/train_files/download_models.sh + +# 1. Convert hdf5 real-robot data to TFDS format +# See: https://github.com/cheng-haha/rlds_sim/tree/main/aloha_realworld + +# 2. Register the dataset +bash experiments/robot/aloha/train_files/setup_training.sh + +# 3. Train +bash experiments/robot/aloha/train_files/train_aloha.sh + +# 4. Launch the inference server +bash experiments/robot/aloha/eval_files/deploy_server.sh + +# 5. Run client-side evaluation +bash experiments/robot/aloha/eval_files/run_eval_client_fake.sh # fake-data sanity check +bash experiments/robot/aloha/eval_files/run_eval_client.sh # real-robot evaluation +``` + +## Training + +
+Local Model Download (Optional) + +If you cannot access the HF Hub or prefer fully offline training, download all pretrained models in advance: + +```bash +bash experiments/robot/aloha/train_files/download_models.sh +# Or specify an HF token for private repos +HF_TOKEN=hf_xxx bash experiments/robot/aloha/train_files/download_models.sh +``` + +Models downloaded: + +| Model | Local Path | +|-------|------------| +| `timm/vit_large_patch14_reg4_dinov2.lvd142m` | `${ROOT_DIR}/ai_models/timm/...` | +| `timm/ViT-SO400M-14-SigLIP` | `${ROOT_DIR}/ai_models/timm/...` | +| `Qwen/Qwen2.5-0.5B` | `${ROOT_DIR}/ai_models/Qwen/Qwen2.5-0.5B` | +| `Stanford-ILIAD/prism-qwen25-extra-dinosiglip-224px-0_5b` | `${ROOT_DIR}/ai_models/Stanford-ILIAD/...` | + +After using the `--local-models` flag, `setup_training.sh` patches the project source files (`qwen25.py`, `materialize.py`, `dinosiglip_vit.py`) with local paths. To revert to online loading: + +```bash +cd +git restore prismatic/models/backbones/llm/qwen25.py +git restore prismatic/models/materialize.py +git restore prismatic/models/backbones/vision/dinosiglip_vit.py +``` + +
+ +### Data Preparation + +ALOHA data must be converted to TFDS format. See [rlds_sim/aloha_realworld](https://github.com/cheng-haha/rlds_sim/tree/main/aloha_realworld) for the conversion tool. + +### Configuration + +Before training, update the default path variables in the following scripts. + +**Key variables in `train_aloha.sh`:** + +| Variable | Default | Description | +|----------|---------|-------------| +| `ROOT_DIR` | `/path/to/root` | Storage root directory | +| `DATA_ROOT_DIR` | `${ROOT_DIR}/datasets/cobot_aloha/tfds` | TFDS data directory | +| `VLM_PATH` | `${ROOT_DIR}/ai_models/Stanford-ILIAD/prism-qwen25-extra-dinosiglip-224px-0_5b` | VLM weights path | +| `DATASET_NAME` | `bowl_stack_and_shelf_aloha_realworld_50` | Dataset name | +| `WANDB_ENTITY` | `your-wandb-entity` | W&B user / team | +| `WANDB_PROJECT` | `vla_adapter` | W&B project name | + +**Key variables in `setup_training.sh`:** + +| Variable | Default | Description | +|----------|---------|-------------| +| `ROOT_DIR` | `/path/to/root` | Storage root directory | +| `LOCAL_QWEN_PATH` | `${ROOT_DIR}/ai_models/Qwen/Qwen2.5-0.5B` | Local Qwen model path | +| `LOCAL_TIMM_PATH` | `${ROOT_DIR}/ai_models/timm` | Local timm vision model path | + +**Default training hyperparameters (built into `train_aloha.sh`):** + +| Parameter | Value | Description | +|-----------|-------|-------------| +| `batch_size` | 12 | Per-GPU batch size | +| `nproc-per-node` | 4 | Number of GPUs | +| `learning_rate` | 2e-4 | Learning rate | +| `max_steps` | 10005 | Maximum training steps | +| `lora_rank` | 64 | LoRA rank | +| `num_images_in_input` | 3 | Number of input images (front + left wrist + right wrist) | +| `use_pro_version` | True | Use the Pro version (recommended) | +| `use_minivlm` | True | Use MiniVLM | +| `image_aug` | True | Image augmentation | + +> To adjust hyperparameters (e.g., fewer GPUs or a different batch size), edit the corresponding variables directly in `train_aloha.sh`. + +### Dataset Registration + +`setup_training.sh` automatically registers a new dataset entry in `configs.py`, `mixtures.py`, and `transforms.py` (ALOHA bimanual config: 3 image observation keys + bimanual joint encoding). + +```bash +# Register dataset only (models loaded from HF Hub) +bash experiments/robot/aloha/train_files/setup_training.sh bowl_stack_and_shelf_aloha_realworld_50 + +# Register dataset + enable local model loading (offline environment) +bash experiments/robot/aloha/train_files/setup_training.sh bowl_stack_and_shelf_aloha_realworld_50 --local-models +``` + +### Launch Training + +```bash +bash experiments/robot/aloha/train_files/train_aloha.sh +``` + +Training outputs are saved to `outputs//-/`; logs go to the `logs/` directory. W&B runs in offline mode by default. + +## Deployment + +Deployment follows a **server–client** architecture: the server loads a checkpoint and exposes an inference API over MsgPack HTTP; the client collects observations and sends requests to obtain action sequences. + +### Server + +Update the following variables in `deploy_server.sh`: + +| Variable | Default | Description | +|----------|---------|-------------| +| `PRETRAINED_CHECKPOINT` | `/path/to/checkpoint_dir` | Trained checkpoint directory | +| `PORT` | `8888` | Server port | +| `DEVICE` | `0` | GPU device ID | +| `MODEL_FAMILY` | `openvla` | Model family | + +```bash +bash experiments/robot/aloha/eval_files/deploy_server.sh +``` + +### Fake-Data Client (No ROS Required) + +Verifies the inference pipeline using synthetic observations — no real robot or ROS environment needed. Generates 480x640x3 fake images and 14-DOF fake joint states. + +Update the following variables in `run_eval_client_fake.sh`: + +| Variable | Default | Description | +|----------|---------|-------------| +| `VLA_SERVER_URL` | `http://127.0.0.1:8888` | Server address | +| `TASK_LABEL` | `Use the right arm to stack...` | Task instruction | +| `UNNORM_KEY` | `bowl_stack_and_shelf_aloha_realworld_50` | Action un-normalization key (must match the training dataset) | + +```bash +bash experiments/robot/aloha/eval_files/run_eval_client_fake.sh +``` + +### Real-Robot Client (Requires ROS) + +Subscribes to 3 camera topics and bimanual joint states via ROS, queries the server for a new action sequence every `num_open_loop_steps` (default 25) steps, and supports multi-trial evaluation with automatic success-rate tracking. + +**Default ROS topics:** + +| Topic | Type | Description | +|-------|------|-------------| +| `/camera_f/color/image_raw` | Image | Front camera | +| `/camera_l/color/image_raw` | Image | Left wrist camera | +| `/camera_r/color/image_raw` | Image | Right wrist camera | +| `/puppet/joint_left` | JointState | Left arm joint state | +| `/puppet/joint_right` | JointState | Right arm joint state | +| `/master/joint_left` | JointState | Left arm joint command (published) | +| `/master/joint_right` | JointState | Right arm joint command (published) | + +```bash +bash experiments/robot/aloha/eval_files/run_eval_client.sh +``` + +> To adapt to different robot hardware, modify the `OpenVLAConfig` dataclass in [`run_cobot_client.py`](./run_cobot_client.py) to adjust topic names, control frequency, open-loop steps, and other parameters. + +## Notes + +- Training defaults to 4 GPUs (`nproc-per-node 4`). For single-GPU training, update that value in `train_aloha.sh` and adjust `batch_size` accordingly. +- During real-robot evaluation, the operator is prompted to press Enter to start each trial; pressing Space + Enter stops the current trial early. +- Trial results (JSON) are saved under `experiments/logs//`. +- For more ALOHA evaluation references, see [openvla-oft/experiments/robot/aloha](https://github.com/moojink/openvla-oft/tree/main/experiments/robot/aloha). diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/demo/sandwich_assembly_bimanual_demo.mp4 b/VLA-Adapter-UAV/experiments/robot/aloha/demo/sandwich_assembly_bimanual_demo.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..fe8a649b9a97052635332f9e2110fa6ee85e3b95 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/demo/sandwich_assembly_bimanual_demo.mp4 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:267930f056ca823f6d09ab7a1cc1f1676d4b663bcc202f7a4c8dc8ca8cc005d2 +size 20089886 diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/eval_files/deploy_server.sh b/VLA-Adapter-UAV/experiments/robot/aloha/eval_files/deploy_server.sh new file mode 100644 index 0000000000000000000000000000000000000000..41622ea71b9d2a187d99d4f06c3097611e14f571 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/eval_files/deploy_server.sh @@ -0,0 +1,14 @@ +PROJECT_PATH=realworld_vla_adapter +SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)" +PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../../../.." && pwd)" +export PYTHONPATH="${PROJECT_ROOT}" +pretrained_checkpoint="${PRETRAINED_CHECKPOINT:-/path/to/checkpoint_dir}" +port="${PORT:-8888}" +model_family="${MODEL_FAMILY:-openvla}" +device="${DEVICE:-0}" + +python experiments/robot/server_deploy/deploy.py \ + --pretrained_checkpoint $pretrained_checkpoint \ + --model_family $model_family \ + --port $port \ + --device $device diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/eval_files/run_eval_client.sh b/VLA-Adapter-UAV/experiments/robot/aloha/eval_files/run_eval_client.sh new file mode 100644 index 0000000000000000000000000000000000000000..96938a92c52d42675151d0f4bd3b6574a32cac72 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/eval_files/run_eval_client.sh @@ -0,0 +1,15 @@ +PROJECT_PATH=realworld_vla_adapter +SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)" +PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../../../.." && pwd)" +export PYTHONPATH="${PROJECT_ROOT}" + +# Allow passing the server URL as an argument or via VLA_SERVER_URL env variable. +VLA_SERVER_URL="${VLA_SERVER_URL:-http://127.0.0.1:8888}" +TASK_LABEL="${TASK_LABEL:-Use the right arm to stack the red bowl on the blue one, then use the left arm to place the stack on the shelf.}" +UNNORM_KEY="${UNNORM_KEY:-bowl_stack_and_shelf_aloha_realworld_50}" + +python experiments/robot/aloha/run_cobot_client.py \ + --use_vla_server \ + --vla_server_url "${VLA_SERVER_URL}" \ + --unnorm_key "${UNNORM_KEY}" \ + --task_label "${TASK_LABEL}" diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/eval_files/run_eval_client_fake.sh b/VLA-Adapter-UAV/experiments/robot/aloha/eval_files/run_eval_client_fake.sh new file mode 100644 index 0000000000000000000000000000000000000000..d83807f19095dbfa7ecde56b3a2864da351c0d0a --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/eval_files/run_eval_client_fake.sh @@ -0,0 +1,15 @@ +PROJECT_PATH=realworld_vla_adapter +SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)" +PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../../../.." && pwd)" +export PYTHONPATH="${PROJECT_ROOT}" + +# Allow passing the server URL as an argument or via VLA_SERVER_URL env variable. +VLA_SERVER_URL="${VLA_SERVER_URL:-http://127.0.0.1:8888}" +TASK_LABEL="${TASK_LABEL:-Use the right arm to stack the red bowl on the blue one, then use the left arm to place the stack on the shelf.}" +UNNORM_KEY="${UNNORM_KEY:-bowl_stack_and_shelf_aloha_realworld_50}" + +python experiments/robot/aloha/run_fake_cobot_client.py \ + --use_vla_server \ + --vla_server_url "${VLA_SERVER_URL}" \ + --unnorm_key "${UNNORM_KEY}" \ + --task_label "${TASK_LABEL}" diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/requirements_aloha.txt b/VLA-Adapter-UAV/experiments/robot/aloha/requirements_aloha.txt new file mode 100644 index 0000000000000000000000000000000000000000..c2c6bbe2d986ff5345f5cd085a979deaa78fbb4d --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/requirements_aloha.txt @@ -0,0 +1,29 @@ +# Extra Python packages for `experiments/robot/aloha` after the base install in README: +# pip install torch==2.2.0 torchvision==0.17.0 torchaudio==2.2.0 +# pip install -e . +# pip install packaging ninja +# pip install "flash-attn==2.5.5" --no-build-isolation +# +# Most training dependencies are already covered by the commands above. +# This file only keeps the ALOHA-specific extras that are still needed. + +# Required by the msgpack HTTP client used in fake/real eval clients. +msgpack +msgpack-numpy + +# Required by real-world ALOHA eval modules importing `real_env.py`. +dm-env +ipython + +# Optional but recommended if you want rollout videos from `save_rollout_video()`. +imageio[ffmpeg] + +# Not installable from pip here; these must come from your ROS / robot environment: +# rospy +# cv_bridge +# std_msgs +# sensor_msgs +# nav_msgs +# geometry_msgs +# interbotix_xs_modules +# interbotix_xs_msgs diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/run_cobot_client.py b/VLA-Adapter-UAV/experiments/robot/aloha/run_cobot_client.py new file mode 100644 index 0000000000000000000000000000000000000000..70a4407aeeddab70d05bc0fa5e9891ef99b6f261 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/run_cobot_client.py @@ -0,0 +1,681 @@ +#!/usr/bin/python3 +""" +inference_openvla_oft.py + +A hybrid inference system that combines local ROS data collection with remote OpenVLA server inference. +This allows local robot control while leveraging cloud-based OpenVLA models. +""" + +import torch +import numpy as np +import os +import pickle +import argparse +import json +import select +from einops import rearrange +import socket +import sys +import time +import threading +import math +import logging +from collections import deque +from dataclasses import dataclass +from pathlib import Path +from typing import Optional, Union + +import rospy +from std_msgs.msg import Header +from geometry_msgs.msg import Twist +from sensor_msgs.msg import JointState, Image +from nav_msgs.msg import Odometry +from cv_bridge import CvBridge + +# Append current directory so that interpreter can find experiments.robot +# sys.path.append("/home/agilex/openvla-oft") +sys.path.append(".") + +from experiments.robot.aloha.aloha_utils import ( + # get_aloha_env, + get_aloha_image, + get_aloha_wrist_images, + get_next_task_label, + # save_rollout_video, +) +from experiments.robot.openvla_utils import resize_image_for_policy +from experiments.robot.robot_utils import ( + DATE_TIME, + MsgPackHttpClientPolicy, + get_image_resize_size, + set_seed_everywhere, +) + +# Set up logging +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s [%(levelname)s] %(message)s", + handlers=[logging.StreamHandler()], +) +logger = logging.getLogger(__name__) + + +@dataclass +class OpenVLAConfig: + # fmt: off + + ################################################################################################################# + # Model-specific parameters + ################################################################################################################# + model_family: str = "openvla" # Model family + center_crop: bool = True # Center crop? (if trained w/ random crop image aug) + num_open_loop_steps: int = 25 # Number of actions to execute open-loop before requerying policy + unnorm_key: str = "" # Dataset key for action un-normalization + + use_vla_server: bool = True # Whether to query remote VLA server for actions + vla_server_url: Union[str, Path] = "0.0.0.0" # Remote VLA server URL + + ################################################################################################################# + # Robot control parameters + ################################################################################################################# + max_publish_step: int = 500 # Max number of steps per episode + publish_rate: int = 40 # Control frequency (Hz) + num_trials: int = 10 # Number of inference trials to record + use_relative_actions: bool = False # Whether to use relative actions (delta joint angles) + pos_lookahead_step: int = 25 # Number of steps to look ahead + + ################################################################################################################# + # ROS topic parameters + ################################################################################################################# + img_front_topic: str = '/camera_f/color/image_raw' + img_left_topic: str = '/camera_l/color/image_raw' + img_right_topic: str = '/camera_r/color/image_raw' + puppet_arm_left_topic: str = '/puppet/joint_left' + puppet_arm_right_topic: str = '/puppet/joint_right' + puppet_arm_left_cmd_topic: str = '/master/joint_left' + puppet_arm_right_cmd_topic: str = '/master/joint_right' + robot_base_topic: str = '/odom_raw' + robot_base_cmd_topic: str = '/cmd_vel' + + ################################################################################################################# + # Robot base and movement parameters + ################################################################################################################# + use_robot_base: bool = False # Whether to use robot base movement + arm_steps_length: list = None # Step sizes for each joint + use_actions_interpolation: bool = False # Whether to use action interpolation + + ################################################################################################################# + # Utils + ################################################################################################################# + run_id_note: Optional[str] = None # Extra note to add to end of run ID for logging + local_log_dir: str = "./experiments/logs" # Local directory for eval logs + seed: int = 42 # Random Seed + task_label: str = "" # Default task label used when prompting operator + + # fmt: on + + def __post_init__(self): + if self.arm_steps_length is None: + self.arm_steps_length = [0.01, 0.01, 0.01, 0.01, 0.01, 0.01, 0.2] + + +class RosOperator: + """ROS interface for robot control and data collection.""" + + def __init__(self, cfg: OpenVLAConfig): + self.cfg = cfg + self.robot_base_deque = None + self.puppet_arm_right_deque = None + self.puppet_arm_left_deque = None + self.img_front_deque = None + self.img_right_deque = None + self.img_left_deque = None + self.bridge = None + self.puppet_arm_left_publisher = None + self.puppet_arm_right_publisher = None + self.robot_base_publisher = None + self.puppet_arm_publish_thread = None + self.puppet_arm_publish_lock = None + self.ctrl_state = False + self.ctrl_state_lock = threading.Lock() + self.init() + self.init_ros() + + def init(self): + """Initialize data structures.""" + self.bridge = CvBridge() + self.img_left_deque = deque() + self.img_right_deque = deque() + self.img_front_deque = deque() + self.puppet_arm_left_deque = deque() + self.puppet_arm_right_deque = deque() + self.robot_base_deque = deque() + self.puppet_arm_publish_lock = threading.Lock() + self.puppet_arm_publish_lock.acquire() + + def puppet_arm_publish(self, left, right): + """Publish joint commands to both arms.""" + joint_state_msg = JointState() + joint_state_msg.header = Header() + joint_state_msg.header.stamp = rospy.Time.now() + joint_state_msg.name = ['joint0', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6'] + joint_state_msg.position = left + self.puppet_arm_left_publisher.publish(joint_state_msg) + joint_state_msg.position = right + self.puppet_arm_right_publisher.publish(joint_state_msg) + + def robot_base_publish(self, vel): + """Publish base velocity commands.""" + vel_msg = Twist() + vel_msg.linear.x = vel[0] + vel_msg.linear.y = 0 + vel_msg.linear.z = 0 + vel_msg.angular.x = 0 + vel_msg.angular.y = 0 + vel_msg.angular.z = vel[1] + self.robot_base_publisher.publish(vel_msg) + + def get_observation(self): + """Get synchronized observation from all sensors.""" + if (len(self.img_left_deque) == 0 or len(self.img_right_deque) == 0 or + len(self.img_front_deque) == 0 or len(self.puppet_arm_left_deque) == 0 or + len(self.puppet_arm_right_deque) == 0): + return None + + if self.cfg.use_robot_base and len(self.robot_base_deque) == 0: + return None + + # Get the latest timestamp from all sensors + frame_time = min([ + self.img_left_deque[-1].header.stamp.to_sec(), + self.img_right_deque[-1].header.stamp.to_sec(), + self.img_front_deque[-1].header.stamp.to_sec() + ]) + + # Check if all data is synchronized + if (self.img_left_deque[-1].header.stamp.to_sec() < frame_time or + self.img_right_deque[-1].header.stamp.to_sec() < frame_time or + self.img_front_deque[-1].header.stamp.to_sec() < frame_time or + self.puppet_arm_left_deque[-1].header.stamp.to_sec() < frame_time or + self.puppet_arm_right_deque[-1].header.stamp.to_sec() < frame_time): + return None + + if (self.cfg.use_robot_base and + self.robot_base_deque[-1].header.stamp.to_sec() < frame_time): + return None + + # Pop old data and get synchronized frames + while self.img_left_deque[0].header.stamp.to_sec() < frame_time: + self.img_left_deque.popleft() + img_left = self.bridge.imgmsg_to_cv2(self.img_left_deque.popleft(), 'passthrough') + + while self.img_right_deque[0].header.stamp.to_sec() < frame_time: + self.img_right_deque.popleft() + img_right = self.bridge.imgmsg_to_cv2(self.img_right_deque.popleft(), 'passthrough') + + while self.img_front_deque[0].header.stamp.to_sec() < frame_time: + self.img_front_deque.popleft() + img_front = self.bridge.imgmsg_to_cv2(self.img_front_deque.popleft(), 'passthrough') + + while self.puppet_arm_left_deque[0].header.stamp.to_sec() < frame_time: + self.puppet_arm_left_deque.popleft() + puppet_arm_left = self.puppet_arm_left_deque.popleft() + + while self.puppet_arm_right_deque[0].header.stamp.to_sec() < frame_time: + self.puppet_arm_right_deque.popleft() + puppet_arm_right = self.puppet_arm_right_deque.popleft() + + robot_base = None + if self.cfg.use_robot_base: + while self.robot_base_deque[0].header.stamp.to_sec() < frame_time: + self.robot_base_deque.popleft() + robot_base = self.robot_base_deque.popleft() + + # Construct observation dict + observation = { + 'images': { + 'cam_high': img_front, + 'cam_left_wrist': img_left, + 'cam_right_wrist': img_right + }, + 'qpos': np.concatenate(( + np.array(puppet_arm_left.position), + np.array(puppet_arm_right.position) + ), axis=0), + 'qvel': np.concatenate(( + np.array(puppet_arm_left.velocity), + np.array(puppet_arm_right.velocity) + ), axis=0), + 'effort': np.concatenate(( + np.array(puppet_arm_left.effort), + np.array(puppet_arm_right.effort) + ), axis=0) + } + + if self.cfg.use_robot_base and robot_base is not None: + base_vel = [robot_base.twist.twist.linear.x, robot_base.twist.twist.angular.z] + observation['qpos'] = np.concatenate((observation['qpos'], base_vel), axis=0) + + return observation + + # ROS callback functions + def img_left_callback(self, msg): + if len(self.img_left_deque) >= 2000: + self.img_left_deque.popleft() + self.img_left_deque.append(msg) + + def img_right_callback(self, msg): + if len(self.img_right_deque) >= 2000: + self.img_right_deque.popleft() + self.img_right_deque.append(msg) + + def img_front_callback(self, msg): + if len(self.img_front_deque) >= 2000: + self.img_front_deque.popleft() + self.img_front_deque.append(msg) + + def puppet_arm_left_callback(self, msg): + if len(self.puppet_arm_left_deque) >= 2000: + self.puppet_arm_left_deque.popleft() + self.puppet_arm_left_deque.append(msg) + + def puppet_arm_right_callback(self, msg): + if len(self.puppet_arm_right_deque) >= 2000: + self.puppet_arm_right_deque.popleft() + self.puppet_arm_right_deque.append(msg) + + def robot_base_callback(self, msg): + if len(self.robot_base_deque) >= 2000: + self.robot_base_deque.popleft() + self.robot_base_deque.append(msg) + + def init_ros(self): + """Initialize ROS node and subscribers/publishers.""" + rospy.init_node('openvla_inference', anonymous=True) + + # Subscribers + rospy.Subscriber(self.cfg.img_left_topic, Image, self.img_left_callback, + queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.cfg.img_right_topic, Image, self.img_right_callback, + queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.cfg.img_front_topic, Image, self.img_front_callback, + queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.cfg.puppet_arm_left_topic, JointState, self.puppet_arm_left_callback, + queue_size=1000, tcp_nodelay=True) + rospy.Subscriber(self.cfg.puppet_arm_right_topic, JointState, self.puppet_arm_right_callback, + queue_size=1000, tcp_nodelay=True) + + if self.cfg.use_robot_base: + rospy.Subscriber(self.cfg.robot_base_topic, Odometry, self.robot_base_callback, + queue_size=1000, tcp_nodelay=True) + + # Publishers + self.puppet_arm_left_publisher = rospy.Publisher(self.cfg.puppet_arm_left_cmd_topic, + JointState, queue_size=10) + self.puppet_arm_right_publisher = rospy.Publisher(self.cfg.puppet_arm_right_cmd_topic, + JointState, queue_size=10) + if self.cfg.use_robot_base: + self.robot_base_publisher = rospy.Publisher(self.cfg.robot_base_cmd_topic, + Twist, queue_size=10) + + +def validate_config(cfg: OpenVLAConfig) -> None: + """Validate configuration parameters.""" + assert cfg.use_vla_server, ( + "Must use VLA server for remote inference! Please set --use_vla_server=True" + ) + assert cfg.vla_server_url, "A valid --vla_server_url must be provided for MsgPack remote inference." + assert cfg.unnorm_key, "A valid --unnorm_key matching the deployed policy's dataset stats is required." + + +def setup_logging(cfg: OpenVLAConfig): + """Set up logging to file.""" + # Create run ID + run_id = f"OPENVLA-INFERENCE-{cfg.model_family}-{DATE_TIME}" + if cfg.run_id_note is not None: + run_id += f"--{cfg.run_id_note}" + + # Set up local logging + os.makedirs(cfg.local_log_dir, exist_ok=True) + local_log_filepath = os.path.join(cfg.local_log_dir, run_id + ".txt") + log_file = open(local_log_filepath, "w") + logger.info(f"Logging to local log file: {local_log_filepath}") + + return log_file, local_log_filepath, run_id + + +def log_message(message: str, log_file=None): + """Log a message to console and optionally to a log file.""" + print(message) + logger.info(message) + if log_file: + log_file.write(message + "\n") + log_file.flush() + + +def get_server_endpoint(cfg: OpenVLAConfig): + """Get the server endpoint for remote inference.""" + server_url = str(cfg.vla_server_url).strip() + if server_url.startswith("http"): + return server_url.rstrip("/") + + # Support host[:port] inputs without protocol + host_and_path = server_url.split("/", 1)[0] + if ":" in host_and_path: + host, port = host_and_path.split(":", 1) + else: + host, port = host_and_path, "8777" + + ip_address = socket.gethostbyname(host) + protocol = "https" if any(keyword in host for keyword in ("nat-notebook", "ngrok")) else "http" + return f"{protocol}://{ip_address}:{port}" + + +def prepare_observation_for_server(obs_data, task_description, resize_size): + """Prepare observation for OpenVLA server input.""" + # Support both dict observations (real ROS bridge) and dm_env.TimeStep (ALOHA sim) + if isinstance(obs_data, dict) and "images" in obs_data: + img = obs_data["images"]["cam_high"] + left_wrist_img = obs_data["images"]["cam_left_wrist"] + right_wrist_img = obs_data["images"]["cam_right_wrist"] + else: + img = get_aloha_image(obs_data) # Main camera image + left_wrist_img, right_wrist_img = get_aloha_wrist_images(obs_data) + + # Resize images to size expected by model + img_resized = resize_image_for_policy(img, resize_size) + left_wrist_img_resized = resize_image_for_policy(left_wrist_img, resize_size) + right_wrist_img_resized = resize_image_for_policy(right_wrist_img, resize_size) + + # Prepare observations dict for server + observation = { + "full_image": img_resized, + "left_wrist_image": left_wrist_img_resized, + "right_wrist_image": right_wrist_img_resized, + "state": obs_data['qpos'], + "instruction": task_description, + } + + return observation, img_resized, left_wrist_img_resized, right_wrist_img_resized + + +def manual_stop_requested() -> bool: + """Check whether the operator requested to stop the current trial via stdin.""" + if not sys.stdin.isatty(): + return False + + try: + ready, _, _ = select.select([sys.stdin], [], [], 0) + except (ValueError, OSError): + return False + + if ready: + raw_input = sys.stdin.readline() + if raw_input == "": + return False + user_signal = raw_input.rstrip("\r\n") + if user_signal == " " or user_signal.lower() in {"space", "stop", "s"}: + return True + + return False + + +def run_inference_loop(cfg: OpenVLAConfig, ros_operator: RosOperator, log_file=None, run_id: Optional[str] = None): + """Main inference loop supporting multiple trials.""" + resize_size = get_image_resize_size(cfg) + server_endpoint = get_server_endpoint(cfg) + client = MsgPackHttpClientPolicy(host=server_endpoint) + log_message(f"Connecting to OpenVLA server at: {client.infer_url}", log_file) + + previous_task_description = cfg.task_label + STEP_DURATION_IN_SEC = 1.0 / cfg.publish_rate + rate = rospy.Rate(cfg.publish_rate) + + # Nominal joint targets used to settle the robot before each attempt + left0 = [-0.00133514404296875, 0.00209808349609375, 0.01583099365234375, + -0.032616615295410156, -0.00286102294921875, 0.00095367431640625, 3.557830810546875] + right0 = [-0.00133514404296875, 0.00438690185546875, 0.034523963928222656, + -0.053597450256347656, -0.00476837158203125, -0.00209808349609375, 3.557830810546875] + + trial_results = [] + total_successes = 0 + + for trial_idx in range(cfg.num_trials): + log_message(f"\n========== Trial {trial_idx + 1}/{cfg.num_trials} ==========", log_file) + task_description = get_next_task_label(previous_task_description) + previous_task_description = task_description + log_message(f"Task: {task_description}", log_file) + log_message("Tip: press then Enter at any time to stop this trial early.", log_file) + + action_queue = deque(maxlen=cfg.num_open_loop_steps) + t = 0 + curr_state = None + + ros_operator.puppet_arm_publish(left0, right0) + time.sleep(3) + log_message("Prepare the scene, and then press Enter to begin...", log_file) + input() + + episode_start_time = time.time() + total_model_query_time = 0.0 + + try: + while t < cfg.max_publish_step and not rospy.is_shutdown(): + if manual_stop_requested(): + log_message("Manual stop requested; ending trial early.", log_file) + break + step_start_time = time.time() + + obs_data = ros_operator.get_observation() + if obs_data is None: + log_message("Waiting for synchronized sensor data...", log_file) + rate.sleep() + continue + + if len(action_queue) == 0: + log_message("Requerying OpenVLA server...", log_file) + observation, _, _, _ = prepare_observation_for_server(obs_data, task_description, resize_size) + observation["unnorm_key"] = cfg.unnorm_key + + model_query_start_time = time.time() + try: + response = client.infer(observation) + actions = np.array(response["actions"]) + actions = actions[: cfg.num_open_loop_steps] + total_model_query_time += time.time() - model_query_start_time + action_queue.extend(actions) + log_message(f"Received {len(actions)} actions from server", log_file) + except Exception as e: + log_message(f"Error querying server: {e}", log_file) + rate.sleep() + continue + + action = action_queue.popleft() + log_message("-----------------------------------------------------", log_file) + log_message(f"t: {t}", log_file) + log_message(f"action: {action}", log_file) + + if cfg.use_relative_actions: + if curr_state is None: + curr_state = obs_data['qpos'] + rel_action = action + target_state = curr_state + rel_action + left_action = target_state[:7] + right_action = target_state[7:14] + curr_state = target_state + else: + left_action = action[:7] + right_action = action[7:14] + + ros_operator.puppet_arm_publish(left_action, right_action) + + if cfg.use_robot_base and len(action) > 14: + vel_action = action[14:16] + ros_operator.robot_base_publish(vel_action) + + t += 1 + + step_elapsed_time = time.time() - step_start_time + if step_elapsed_time < STEP_DURATION_IN_SEC: + time.sleep(STEP_DURATION_IN_SEC - step_elapsed_time) + + except (KeyboardInterrupt, Exception) as e: + if isinstance(e, KeyboardInterrupt): + log_message("\nCaught KeyboardInterrupt: Terminating episode early.", log_file) + else: + log_message(f"\nCaught exception: {e}", log_file) + + episode_end_time = time.time() + num_queries = max(1, t // cfg.num_open_loop_steps) + avg_inference_time = total_model_query_time / num_queries + + user_input = input("Success? Enter 'y' or 'n': ") + success = user_input.strip().lower() == "y" + if success: + total_successes += 1 + + current_trial_count = len(trial_results) + 1 + success_rate = total_successes / current_trial_count + trial_stats = { + "trial_index": trial_idx + 1, + "task_description": task_description, + "success": success, + "total_steps": t, + "model_query_time": total_model_query_time, + "episode_duration": episode_end_time - episode_start_time, + "avg_inference_time": avg_inference_time, + "cumulative_success_rate": success_rate, + } + trial_results.append(trial_stats) + + log_message("\nTrial summary:", log_file) + log_message(f"Total steps: {t}", log_file) + log_message(f"Total model query time: {total_model_query_time:.2f} sec", log_file) + log_message(f"Episode duration: {trial_stats['episode_duration']:.2f} sec", log_file) + log_message(f"Average inference time: {avg_inference_time:.3f} sec", log_file) + log_message(f"Success: {success}", log_file) + log_message( + f"Current success rate: {total_successes}/{len(trial_results)} ({success_rate * 100:.1f}%)", + log_file, + ) + + if rospy.is_shutdown(): + break + + if trial_results: + final_success_rate = total_successes / len(trial_results) + log_message("\nFinal multi-trial summary:", log_file) + log_message(f"Total trials run: {len(trial_results)}", log_file) + log_message(f"Total successes: {total_successes}", log_file) + log_message(f"Overall success rate: {final_success_rate * 100:.1f}%", log_file) + + results_filename = f"{run_id or f'cobot_{DATE_TIME}'}_results.json" + results_subdir = os.path.join(cfg.local_log_dir, cfg.unnorm_key or "default") + os.makedirs(results_subdir, exist_ok=True) + results_path = os.path.join(results_subdir, results_filename) + with open(results_path, "w") as f: + json.dump(trial_results, f, indent=2) + log_message(f"Saved trial results to {results_path}", log_file) + + return trial_results + + +def main(): + """Main function.""" + parser = argparse.ArgumentParser(description="OpenVLA remote inference with local ROS control") + + # Model parameters + parser.add_argument('--model_family', type=str, default='openvla', help='Model family') + parser.add_argument('--center_crop', action='store_true', help='Center crop images') + parser.add_argument('--num_open_loop_steps', type=int, default=25, help='Open loop steps') + + # Server parameters + parser.add_argument('--use_vla_server', action='store_true', default=True, help='Use VLA server') + parser.add_argument('--vla_server_url', type=str, default='0.0.0.0', help='VLA server URL') + parser.add_argument('--unnorm_key', type=str, default='', help='Dataset key for action un-normalization') + + # Robot control parameters + parser.add_argument('--max_publish_step', type=int, default=10000, help='Max steps per episode') + parser.add_argument('--publish_rate', type=int, default=40, help='Control frequency Hz') + parser.add_argument('--num_trials', type=int, default=10, help='Number of inference trials to record') + parser.add_argument('--use_relative_actions', action='store_true', help='Use relative actions') + parser.add_argument('--pos_lookahead_step', type=int, default=25, help='Lookahead steps') + + # ROS topics + parser.add_argument('--img_front_topic', type=str, default='/camera_f/color/image_raw') + parser.add_argument('--img_left_topic', type=str, default='/camera_l/color/image_raw') + parser.add_argument('--img_right_topic', type=str, default='/camera_r/color/image_raw') + parser.add_argument('--puppet_arm_left_topic', type=str, default='/puppet/joint_left') + parser.add_argument('--puppet_arm_right_topic', type=str, default='/puppet/joint_right') + parser.add_argument('--puppet_arm_left_cmd_topic', type=str, default='/master/joint_left') + parser.add_argument('--puppet_arm_right_cmd_topic', type=str, default='/master/joint_right') + parser.add_argument('--robot_base_topic', type=str, default='/odom_raw') + parser.add_argument('--robot_base_cmd_topic', type=str, default='/cmd_vel') + + # Robot base + parser.add_argument('--use_robot_base', action='store_true', help='Use robot base') + parser.add_argument('--use_actions_interpolation', action='store_true', help='Use action interpolation') + + # Utils + parser.add_argument('--run_id_note', type=str, help='Run ID note') + parser.add_argument('--local_log_dir', type=str, default='./experiments/logs', help='Log directory') + parser.add_argument('--seed', type=int, default=7, help='Random seed') + parser.add_argument('--task_label', type=str, default='', help='Default task label for get_next_task_label') + + args = parser.parse_args() + + # Create config from args + cfg = OpenVLAConfig( + model_family=args.model_family, + center_crop=args.center_crop, + num_open_loop_steps=args.num_open_loop_steps, + use_vla_server=args.use_vla_server, + vla_server_url=args.vla_server_url, + unnorm_key=args.unnorm_key, + max_publish_step=args.max_publish_step, + publish_rate=args.publish_rate, + num_trials=args.num_trials, + use_relative_actions=args.use_relative_actions, + pos_lookahead_step=args.pos_lookahead_step, + img_front_topic=args.img_front_topic, + img_left_topic=args.img_left_topic, + img_right_topic=args.img_right_topic, + puppet_arm_left_topic=args.puppet_arm_left_topic, + puppet_arm_right_topic=args.puppet_arm_right_topic, + puppet_arm_left_cmd_topic=args.puppet_arm_left_cmd_topic, + puppet_arm_right_cmd_topic=args.puppet_arm_right_cmd_topic, + robot_base_topic=args.robot_base_topic, + robot_base_cmd_topic=args.robot_base_cmd_topic, + use_robot_base=args.use_robot_base, + use_actions_interpolation=args.use_actions_interpolation, + run_id_note=args.run_id_note, + local_log_dir=args.local_log_dir, + seed=args.seed, + task_label=args.task_label, + ) + + # Validate config + validate_config(cfg) + + # Set random seed + set_seed_everywhere(cfg.seed) + + # Setup logging + log_file, local_log_filepath, run_id = setup_logging(cfg) + + # Initialize ROS operator + ros_operator = RosOperator(cfg) + + log_message("OpenVLA remote inference initialized", log_file) + log_message(f"Config: {cfg}", log_file) + + try: + # Run inference loop + run_inference_loop(cfg, ros_operator, log_file, run_id=run_id) + finally: + if log_file: + log_file.close() + + +if __name__ == "__main__": + main() diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/run_fake_cobot_client.py b/VLA-Adapter-UAV/experiments/robot/aloha/run_fake_cobot_client.py new file mode 100644 index 0000000000000000000000000000000000000000..47c01d03541cf0814d94f3628d8dc0fccc424c8f --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/run_fake_cobot_client.py @@ -0,0 +1,310 @@ +#!/usr/bin/python3 +""" +run_fake_cobot_client.py + +Lightweight client that mimics the cobot inference loop without requiring ROS. +It fabricates proprioception and image observations with the same shapes as the +real robot logs (e.g., qpos (14,), camera frames 480x640x3) and streams them to +the remote OpenVLA server over MsgPack HTTP. +""" + +import argparse +import logging +import os +import socket +import sys +import time +from collections import deque +from dataclasses import dataclass +from pathlib import Path +from typing import Optional, Union + +import numpy as np +np.set_printoptions(precision=8, suppress=True) + +from experiments.robot.openvla_utils import resize_image_for_policy +from experiments.robot.robot_utils import ( + DATE_TIME, + MsgPackHttpClientPolicy, + get_image_resize_size, + set_seed_everywhere, +) + +# Append current directory so that interpreter can find experiments.robot +sys.path.append(".") + +# Set up logging +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s [%(levelname)s] %(message)s", + handlers=[logging.StreamHandler()], +) +logger = logging.getLogger(__name__) + + +@dataclass +class FakeOpenVLAConfig: + # fmt: off + ################################################################################################################# + # Server parameters + ################################################################################################################# + use_vla_server: bool = True # Whether to query remote VLA server for actions + vla_server_url: Union[str, Path] = "0.0.0.0" # Remote VLA server URL + unnorm_key: str = "" # Dataset key for action un-normalization + + ################################################################################################################# + # Model parameters + ################################################################################################################# + model_family: str = "openvla" + center_crop: bool = True + num_open_loop_steps: int = 25 + + ################################################################################################################# + # Fake stream parameters + ################################################################################################################# + sequence_length: int = 260 # Matches collected episode length + num_joints: int = 14 # qpos dimensionality per frame + image_height: int = 480 + image_width: int = 640 + max_publish_step: int = 1000 # Safety upper bound for loop + + ################################################################################################################# + # Utils + ################################################################################################################# + run_id_note: Optional[str] = None + local_log_dir: str = "./experiments/logs" + seed: int = 7 + task_label: str = "open the box" + # fmt: on + + +class FakeRobotStream: + """Generates deterministic fake proprio and image observations.""" + + def __init__(self, cfg: FakeOpenVLAConfig): + self.cfg = cfg + self.rng = np.random.default_rng(cfg.seed) + self.step = 0 + + def reset(self): + self.step = 0 + + def get_observation(self): + """ + Returns a dictionary shaped like the real ROS observation: + - images: cam_high, cam_left_wrist, cam_right_wrist in 480x640x3 uint8 + - qpos: 14D vector (matches dataset episode shape (260, 14)) + """ + if self.step >= self.cfg.sequence_length: + return None + + t = self.step + base_angles = np.linspace(-np.pi, np.pi, self.cfg.num_joints) + qpos = np.sin(base_angles + 0.05 * t).astype(np.float32) + qpos += 0.01 * self.rng.standard_normal(self.cfg.num_joints).astype(np.float32) + + observation = { + "images": { + "cam_high": self._generate_image(t, 0.0), + "cam_left_wrist": self._generate_image(t, 0.25), + "cam_right_wrist": self._generate_image(t, 0.5), + }, + "qpos": qpos, + } + self.step += 1 + return observation + + def _generate_image(self, step: int, phase: float) -> np.ndarray: + """Create a simple gradient pattern with slight temporal variation.""" + height, width = self.cfg.image_height, self.cfg.image_width + x = np.linspace(0, 1, width, dtype=np.float32) + y = np.linspace(0, 1, height, dtype=np.float32)[:, None] + base = (x + y + 0.02 * step + phase) % 1.0 + img = np.stack( + [ + base, + np.roll(base, 1, axis=1), + np.roll(base, 2, axis=1), + ], + axis=-1, + ) + noise = self.rng.uniform(-0.02, 0.02, size=img.shape) + img = np.clip(img + noise, 0.0, 1.0) + return (img * 255).astype(np.uint8) + + +def setup_logging(cfg: FakeOpenVLAConfig): + """Set up logging to file.""" + run_id = f"OPENVLA-FAKE-INFERENCE-{cfg.model_family}-{DATE_TIME}" + if cfg.run_id_note is not None: + run_id += f"--{cfg.run_id_note}" + + os.makedirs(cfg.local_log_dir, exist_ok=True) + local_log_filepath = os.path.join(cfg.local_log_dir, run_id + ".txt") + log_file = open(local_log_filepath, "w") + logger.info(f"Logging to local log file: {local_log_filepath}") + return log_file, local_log_filepath, run_id + + +def log_message(message: str, log_file=None): + """Log a message to console and optionally to a log file.""" + print(message) + logger.info(message) + if log_file: + log_file.write(message + "\n") + log_file.flush() + + +def validate_config(cfg: FakeOpenVLAConfig): + assert cfg.use_vla_server, "Fake client still requires --use_vla_server for remote inference." + assert cfg.vla_server_url, "A valid --vla_server_url must be provided." + assert cfg.unnorm_key, "A valid --unnorm_key matching the remote policy is required." + assert cfg.sequence_length > 0, "--sequence_length must be positive." + assert cfg.num_joints > 0, "--num_joints must be positive." + + +def get_server_endpoint(cfg: FakeOpenVLAConfig): + """Normalize different URL formats into a base URL for MsgPack client.""" + server_url = str(cfg.vla_server_url).strip() + if server_url.startswith("http"): + return server_url.rstrip("/") + + host_and_path = server_url.split("/", 1)[0] + if ":" in host_and_path: + host, port = host_and_path.split(":", 1) + else: + host, port = host_and_path, "8777" + + ip_address = socket.gethostbyname(host) + protocol = "https" if any(keyword in host for keyword in ("nat-notebook", "ngrok")) else "http" + return f"{protocol}://{ip_address}:{port}" + + +def prepare_observation_for_server(obs_data, task_description, resize_size, unnorm_key): + """Format fake observation into the payload required by the server.""" + img_front = resize_image_for_policy(obs_data["images"]["cam_high"], resize_size) + left_wrist = resize_image_for_policy(obs_data["images"]["cam_left_wrist"], resize_size) + right_wrist = resize_image_for_policy(obs_data["images"]["cam_right_wrist"], resize_size) + + observation = { + "full_image": img_front, + "left_wrist_image": left_wrist, + "right_wrist_image": right_wrist, + "state": obs_data["qpos"], + "instruction": task_description, + "unnorm_key": unnorm_key, + } + return observation + + +def run_inference_loop(cfg: FakeOpenVLAConfig, log_file=None): + """Main fake inference loop.""" + resize_size = get_image_resize_size(cfg) + server_endpoint = get_server_endpoint(cfg) + client = MsgPackHttpClientPolicy(host=server_endpoint) + log_message(f"Connecting to OpenVLA server at: {client.infer_url}", log_file) + log_message(f"Task: {cfg.task_label}", log_file) + + stream = FakeRobotStream(cfg) + action_queue = deque(maxlen=cfg.num_open_loop_steps) + + total_model_query_time = 0.0 + t = 0 + + try: + while t < min(cfg.max_publish_step, cfg.sequence_length): + obs_data = stream.get_observation() + if obs_data is None: + log_message("Fake stream exhausted. Stopping episode.", log_file) + break + + if len(action_queue) == 0: + observation = prepare_observation_for_server( + obs_data, + cfg.task_label, + resize_size, + cfg.unnorm_key, + ) + log_message("Requerying OpenVLA server...", log_file) + model_query_start_time = time.time() + try: + response = client.infer(observation) + except Exception as exc: + log_message(f"Error querying server: {exc}", log_file) + break + actions = np.array(response["actions"]) + actions = actions[: cfg.num_open_loop_steps] + total_model_query_time += time.time() - model_query_start_time + action_queue.extend(actions) + log_message(f"Received {len(actions)} actions from server", log_file) + + action = action_queue.popleft() + log_message(f"Step {t}: action={action}", log_file) + t += 1 + + log_message("\nEpisode completed:", log_file) + log_message(f"Total steps: {t}", log_file) + log_message(f"Total model query time: {total_model_query_time:.2f} sec", log_file) + except KeyboardInterrupt: + log_message("\nCaught KeyboardInterrupt: Terminating episode early.", log_file) + + +def main(): + parser = argparse.ArgumentParser(description="Fake OpenVLA remote inference client (no ROS).") + + # Server parameters + parser.add_argument("--use_vla_server", action="store_true", default=True, help="Use VLA server") + parser.add_argument("--vla_server_url", type=str, default="0.0.0.0", help="VLA server URL") + parser.add_argument("--unnorm_key", type=str, default="", help="Dataset key for action un-normalization") + + # Model parameters + parser.add_argument("--model_family", type=str, default="openvla", help="Model family") + parser.add_argument("--center_crop", action="store_true", help="Center crop images") + parser.add_argument("--num_open_loop_steps", type=int, default=25, help="Open loop steps") + + # Fake stream parameters + parser.add_argument("--sequence_length", type=int, default=260, help="Length of fake episode") + parser.add_argument("--num_joints", type=int, default=14, help="Dimensionality of qpos vector") + parser.add_argument("--image_height", type=int, default=480, help="Source image height") + parser.add_argument("--image_width", type=int, default=640, help="Source image width") + parser.add_argument("--max_publish_step", type=int, default=1000, help="Maximum steps to execute") + + # Utils + parser.add_argument("--run_id_note", type=str, help="Run ID note") + parser.add_argument("--local_log_dir", type=str, default="./experiments/logs", help="Log directory") + parser.add_argument("--seed", type=int, default=7, help="Random seed") + parser.add_argument("--task_label", type=str, default="open the box", help="Task description") + + args = parser.parse_args() + + cfg = FakeOpenVLAConfig( + use_vla_server=args.use_vla_server, + vla_server_url=args.vla_server_url, + unnorm_key=args.unnorm_key, + model_family=args.model_family, + center_crop=args.center_crop, + num_open_loop_steps=args.num_open_loop_steps, + sequence_length=args.sequence_length, + num_joints=args.num_joints, + image_height=args.image_height, + image_width=args.image_width, + max_publish_step=args.max_publish_step, + run_id_note=args.run_id_note, + local_log_dir=args.local_log_dir, + seed=args.seed, + task_label=args.task_label, + ) + + validate_config(cfg) + set_seed_everywhere(cfg.seed) + + log_file, _, _ = setup_logging(cfg) + try: + run_inference_loop(cfg, log_file) + finally: + if log_file: + log_file.close() + + +if __name__ == "__main__": + main() diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/train_files/dinosiglip_vit_local_vision.py b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/dinosiglip_vit_local_vision.py new file mode 100644 index 0000000000000000000000000000000000000000..9276c3de86da4b836a3a5c576a2ceb992dbe9e61 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/dinosiglip_vit_local_vision.py @@ -0,0 +1,215 @@ +""" +dinosiglip_vit.py + +Vision backbone that returns concatenated features from both DINOv2 and SigLIP. +""" + +from dataclasses import dataclass +from functools import partial +from typing import Callable, Dict, Tuple +from pathlib import Path + +import timm +import torch +from PIL import Image +from timm.models.vision_transformer import Block, VisionTransformer +from torch.distributed.fsdp.wrap import _module_wrap_policy, _or_policy, transformer_auto_wrap_policy +from torchvision.transforms import Compose, Resize + +from prismatic.models.backbones.vision.base_vision import ( + ImageTransform, + LetterboxPad, + VisionBackbone, + compute_sequence_patches, + unpack_tuple, +) + +# Registry =>> Supported DinoSigLIP Pairs (as TIMM identifiers) +DINOSigLIP_VISION_BACKBONES = { + "dinosiglip-vit-so-224px": { + "dino": "vit_large_patch14_reg4_dinov2.lvd142m", + "siglip": "vit_so400m_patch14_siglip_224", + }, + "dinosiglip-vit-so-384px": { + "dino": "vit_large_patch14_reg4_dinov2.lvd142m", + "siglip": "vit_so400m_patch14_siglip_384", + }, +} + + +@dataclass +class DinoSigLIPImageTransform: + dino_image_transform: ImageTransform + siglip_image_transform: ImageTransform + is_prismatic: bool = True + + def __call__(self, img: Image, **kwargs: str) -> Dict[str, torch.Tensor]: + return {"dino": self.dino_image_transform(img, **kwargs), "siglip": self.siglip_image_transform(img, **kwargs)} + + +def find_hf_checkpoint(model_dir: Path) -> Path: + """Find the model checkpoint file within a Hugging Face Hub cache directory.""" + for pattern in ["*.bin"]: + if files := list(model_dir.glob(pattern)): + return files[0] + + raise FileNotFoundError(f"No model checkpoint file found in {model_dir} or its snapshots.") + + +class DinoSigLIPViTBackbone(VisionBackbone): + def __init__( + self, + vision_backbone_id: str, + image_resize_strategy: str, + default_image_size: int = 224, + image_sequence_len: int = 1, + vision_models_path: str = None, + ) -> None: + super().__init__( + vision_backbone_id, + image_resize_strategy, + default_image_size=default_image_size, + image_sequence_len=image_sequence_len, + ) + dino_model_name = DINOSigLIP_VISION_BACKBONES[vision_backbone_id]["dino"] + siglip_model_name = DINOSigLIP_VISION_BACKBONES[vision_backbone_id]["siglip"] + + # Create model keyword arguments + dino_kwargs = {"pretrained": False, "num_classes": 0, "img_size": self.default_image_size} + siglip_kwargs = {"pretrained": False, "num_classes": 0, "img_size": self.default_image_size} + + # If a local path is provided, update kwargs to load from local checkpoints. + if vision_models_path: + if siglip_model_name == 'vit_so400m_patch14_siglip_224': + siglip_model_local_path = 'ViT-SO400M-14-SigLIP' + else: + siglip_model_local_path = siglip_model_name + + dino_dir = Path(vision_models_path) / f"{dino_model_name}" + siglip_dir = Path(vision_models_path) / f"{siglip_model_local_path}" + + dino_checkpoint = find_hf_checkpoint(dino_dir) + siglip_checkpoint = find_hf_checkpoint(siglip_dir) + + dino_kwargs["checkpoint_path"] = str(dino_checkpoint) + siglip_kwargs["checkpoint_path"] = str(siglip_checkpoint) + + # Initialize both Featurizers (ViTs) by downloading from HF / TIMM Hub or loading from local path + self.dino_featurizer: VisionTransformer = timm.create_model(dino_model_name, **dino_kwargs) + self.dino_featurizer.eval() + + self.siglip_featurizer: VisionTransformer = timm.create_model(siglip_model_name, **siglip_kwargs) + self.siglip_featurizer.eval() + + # Monkey-Patch the `forward()` function of the featurizers to ensure FSDP-compatibility + # => Note: By default set `get_intermediate_layers` to return the *SECOND-TO-LAST* layer patches! + # => TODO (siddk) Remove after resolution of https://github.com/pytorch/pytorch/issues/109385 + self.dino_featurizer.forward = unpack_tuple( + partial(self.dino_featurizer.get_intermediate_layers, n={len(self.dino_featurizer.blocks) - 2}) + ) + self.siglip_featurizer.forward = unpack_tuple( + partial(self.siglip_featurizer.get_intermediate_layers, n={len(self.siglip_featurizer.blocks) - 2}) + ) + + # Get Configs for _both_ Featurizers =>> Note :: Override default image size for larger resolution models + self.dino_data_cfg = timm.data.resolve_model_data_config(self.dino_featurizer) + self.dino_data_cfg["input_size"] = (3, self.default_image_size, self.default_image_size) + + self.siglip_data_cfg = timm.data.resolve_model_data_config(self.siglip_featurizer) + self.siglip_data_cfg["input_size"] = (3, self.default_image_size, self.default_image_size) + + # Initialize *both* Transforms + default_dino_transform = timm.data.create_transform(**self.dino_data_cfg, is_training=False) + default_siglip_transform = timm.data.create_transform(**self.siglip_data_cfg, is_training=False) + + # Fix =>> SigLIP default transform resizes to *larger* than `self.default_image_size` (crops image)!! + assert isinstance(default_siglip_transform, Compose), "Unexpected `default_image_transform`!" + assert isinstance(default_siglip_transform.transforms[0], Resize) + default_siglip_transform = Compose( + [ + Resize(self.default_image_size, interpolation=default_siglip_transform.transforms[0].interpolation), + *default_siglip_transform.transforms[1:], + ] + ) + + if self.image_resize_strategy == "resize-naive": + assert isinstance(default_dino_transform, Compose), "Unexpected `default_dino_image_transform`!" + assert isinstance(default_siglip_transform, Compose), "Unexpected `default_siglip_image_transform`!" + assert isinstance(default_dino_transform.transforms[0], Resize) + assert isinstance(default_siglip_transform.transforms[0], Resize) + + target_size = (self.default_image_size, self.default_image_size) + dino_transform = Compose( + [ + Resize(target_size, interpolation=default_dino_transform.transforms[0].interpolation), + *default_dino_transform.transforms[1:], + ] + ) + siglip_transform = Compose( + [ + Resize(target_size, interpolation=default_siglip_transform.transforms[0].interpolation), + *default_siglip_transform.transforms[1:], + ] + ) + + self.image_transform = DinoSigLIPImageTransform(dino_transform, siglip_transform) + + elif self.image_resize_strategy == "resize-crop": + self.image_transform = DinoSigLIPImageTransform(default_dino_transform, default_siglip_transform) + + elif self.image_resize_strategy == "letterbox": + assert isinstance(default_dino_transform, Compose), "Unexpected `default_dino_transform`!" + assert isinstance(default_siglip_transform, Compose), "Unexpected `default_siglip_transform`!" + assert ( + "mean" in self.dino_data_cfg and "mean" in self.siglip_data_cfg + ), "DinoSigLIP `data_cfg` missing `mean`!" + + # Compute Padding Fill Value(s) (rescaled normalization mean if applicable) + dino_fill = tuple([int(x * 255) for x in self.dino_data_cfg["mean"]]) + siglip_fill = tuple([int(x * 255) for x in self.siglip_data_cfg["mean"]]) + + # Build New Transform + self.image_transform = DinoSigLIPImageTransform( + Compose([LetterboxPad(dino_fill), *default_dino_transform.transforms]), + Compose([LetterboxPad(siglip_fill), *default_siglip_transform.transforms]), + ) + + else: + raise ValueError(f"Image Resize Strategy `{self.image_resize_strategy}` is not supported!") + + def get_fsdp_wrapping_policy(self) -> Callable: + """Return a simple FSDP policy that wraps each ViT block and then both of the _entire_ featurizers.""" + vit_wrap_policy = partial(_module_wrap_policy, module_classes={VisionTransformer}) + transformer_block_policy = partial(transformer_auto_wrap_policy, transformer_layer_cls={Block}) + return partial(_or_policy, policies=[vit_wrap_policy, transformer_block_policy]) + + def forward(self, pixel_values: Dict[str, torch.Tensor]) -> torch.Tensor: + """Runs the transformed image/pixel tensors through each vision backbone, returning concatenated patches.""" + if self.image_sequence_len == 1: + dino_patches = self.dino_featurizer(pixel_values["dino"]) + siglip_patches = self.siglip_featurizer(pixel_values["siglip"]) + else: + featurizers = { + "dino": self.dino_featurizer, + "siglip": self.siglip_featurizer, + } + patches = compute_sequence_patches(pixel_values, featurizers, self.image_sequence_len) + dino_patches, siglip_patches = patches["dino"], patches["siglip"] + return torch.cat([dino_patches, siglip_patches], dim=2) + + @property + def default_image_resolution(self) -> Tuple[int, int, int]: + return self.dino_data_cfg["input_size"] + + @property + def embed_dim(self) -> int: + return self.dino_featurizer.embed_dim + self.siglip_featurizer.embed_dim + + @property + def num_patches(self) -> int: + assert self.dino_featurizer.patch_embed.num_patches == self.siglip_featurizer.patch_embed.num_patches + return self.dino_featurizer.patch_embed.num_patches * self.image_sequence_len + + @property + def half_precision_dtype(self) -> torch.dtype: + return torch.bfloat16 \ No newline at end of file diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/train_files/download_models.sh b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/download_models.sh new file mode 100644 index 0000000000000000000000000000000000000000..19c36dc828089c3d10794440a71b5d75c975bec5 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/download_models.sh @@ -0,0 +1,53 @@ +#!/bin/bash +#========== Download pretrained models from HuggingFace ==========# +# +# Usage: +# bash download_models.sh +# HF_TOKEN=your_huggingface_token bash download_models.sh +# +# HF_TOKEN is optional for public repos. If provided, it will be used. +# ROOT_DIR can be edited below or overridden via environment variable. +# Skips download if model directory already exists and is non-empty. +# + +# User-configurable default root path. +DEFAULT_ROOT_DIR="/path/to/root" +ROOT_DIR="${ROOT_DIR:-${DEFAULT_ROOT_DIR}}" +MODEL_DIR="${ROOT_DIR}/ai_models" +HF_TOKEN="${HF_TOKEN:-}" + +download_model() { + local repo="$1" + local local_dir="$2" + + if [ -d "${local_dir}" ] && [ "$(ls -A "${local_dir}" 2>/dev/null)" ]; then + echo "[SKIP] ${repo} already exists at ${local_dir}" + return + fi + + echo "[DOWNLOAD] ${repo} -> ${local_dir}" + if [ -n "${HF_TOKEN}" ]; then + huggingface-cli download --resume-download \ + "${repo}" \ + --local-dir "${local_dir}" \ + --token "${HF_TOKEN}" + else + huggingface-cli download --resume-download \ + "${repo}" \ + --local-dir "${local_dir}" + fi +} + +download_model "timm/vit_large_patch14_reg4_dinov2.lvd142m" \ + "${MODEL_DIR}/timm/vit_large_patch14_reg4_dinov2.lvd142m" + +download_model "timm/ViT-SO400M-14-SigLIP" \ + "${MODEL_DIR}/timm/ViT-SO400M-14-SigLIP" + +download_model "Qwen/Qwen2.5-0.5B" \ + "${MODEL_DIR}/Qwen/Qwen2.5-0.5B" + +download_model "Stanford-ILIAD/prism-qwen25-extra-dinosiglip-224px-0_5b" \ + "${MODEL_DIR}/Stanford-ILIAD/prism-qwen25-extra-dinosiglip-224px-0_5b" + +echo "Done." diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/train_files/materialize_local_vision.py b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/materialize_local_vision.py new file mode 100644 index 0000000000000000000000000000000000000000..ab8ba8d183816ed7121aff501c6f62a88bd82be1 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/materialize_local_vision.py @@ -0,0 +1,183 @@ +""" +materialize.py + +Factory class for initializing Vision Backbones, LLM Backbones, and VLMs from a set registry; provides and exports +individual functions for clear control flow. +""" + +from typing import Optional, Tuple + +from transformers import PreTrainedTokenizerBase + +from prismatic.models.backbones.llm import LLaMa2LLMBackbone, LLMBackbone, MistralLLMBackbone, PhiLLMBackbone +from prismatic.models.backbones.llm.qwen25 import Qwen25LLMBackbone +from prismatic.models.backbones.vision import ( + CLIPViTBackbone, + DinoCLIPViTBackbone, + DinoSigLIPViTBackbone, + DinoV2ViTBackbone, + ImageTransform, + IN1KViTBackbone, + SigLIPViTBackbone, + VisionBackbone, +) +from prismatic.models.vlms import PrismaticVLM + +# === Registries =>> Maps ID --> {cls(), kwargs} :: Different Registries for Vision Backbones, LLM Backbones, VLMs === +# fmt: off + +# === Vision Backbone Registry === +VISION_BACKBONES = { + # === 224px Backbones === + "clip-vit-l": {"cls": CLIPViTBackbone, "kwargs": {"default_image_size": 224}}, + "siglip-vit-so400m": {"cls": SigLIPViTBackbone, "kwargs": {"default_image_size": 224}}, + "dinov2-vit-l": {"cls": DinoV2ViTBackbone, "kwargs": {"default_image_size": 224}}, + "in1k-vit-l": {"cls": IN1KViTBackbone, "kwargs": {"default_image_size": 224}}, + "dinosiglip-vit-so-224px": {"cls": DinoSigLIPViTBackbone, "kwargs": {"default_image_size": 224, "vision_models_path": "__LOCAL_TIMM_PATH__"}}, + + # === Assorted CLIP Backbones === + "clip-vit-b": {"cls": CLIPViTBackbone, "kwargs": {"default_image_size": 224}}, + "clip-vit-l-336px": {"cls": CLIPViTBackbone, "kwargs": {"default_image_size": 336}}, + + # === Assorted SigLIP Backbones === + "siglip-vit-b16-224px": {"cls": SigLIPViTBackbone, "kwargs": {"default_image_size": 224}}, + "siglip-vit-b16-256px": {"cls": SigLIPViTBackbone, "kwargs": {"default_image_size": 256}}, + "siglip-vit-b16-384px": {"cls": SigLIPViTBackbone, "kwargs": {"default_image_size": 384}}, + "siglip-vit-so400m-384px": {"cls": SigLIPViTBackbone, "kwargs": {"default_image_size": 384}}, + + # === Fused Backbones === + "dinoclip-vit-l-336px": {"cls": DinoCLIPViTBackbone, "kwargs": {"default_image_size": 336}}, + "dinosiglip-vit-so-384px": {"cls": DinoSigLIPViTBackbone, "kwargs": {"default_image_size": 384}}, +} + + +# === Language Model Registry === +LLM_BACKBONES = { + # === LLaMa-2 Pure (Non-Chat) Backbones === + "llama2-7b-pure": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + "llama2-13b-pure": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + + # === LLaMa-2 Chat Backbones === + "llama2-7b-chat": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + "llama2-13b-chat": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + + # === Vicuna-v1.5 Backbones === + "vicuna-v15-7b": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + "vicuna-v15-13b": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + + # === Mistral v0.1 Backbones === + "mistral-v0.1-7b-pure": {"cls": MistralLLMBackbone, "kwargs": {}}, + "mistral-v0.1-7b-instruct": {"cls": MistralLLMBackbone, "kwargs": {}}, + + # === Phi-2 Backbone === + "phi-2-3b": {"cls": PhiLLMBackbone, "kwargs": {}}, + + # === Qwen2.5 Backbone === + "qwen25-0_5b-pure": {"cls": Qwen25LLMBackbone, "kwargs": {}}, + "qwen25-0_5b-extra": {"cls": Qwen25LLMBackbone, "kwargs": {"num_extra_tokens": 256}}, + "qwen25-1_5b-pure": {"cls": Qwen25LLMBackbone, "kwargs": {}}, + "qwen25-3b-pure": {"cls": Qwen25LLMBackbone, "kwargs": {}}, +} + +# fmt: on + + +def get_vision_backbone_and_transform( + vision_backbone_id: str, + image_resize_strategy: str, + image_sequence_len: int, +) -> Tuple[VisionBackbone, ImageTransform]: + """Instantiate a Vision Backbone, returning both the nn.Module wrapper class and default Image Transform.""" + if vision_backbone_id in VISION_BACKBONES: + vision_cfg = VISION_BACKBONES[vision_backbone_id] + vision_backbone: VisionBackbone = vision_cfg["cls"]( + vision_backbone_id, image_resize_strategy, image_sequence_len=image_sequence_len, **vision_cfg["kwargs"] + ) + image_transform = vision_backbone.get_image_transform() + return vision_backbone, image_transform + + else: + raise ValueError(f"Vision Backbone `{vision_backbone_id}` is not supported!") + + +# def _is_network_or_dns_error(e: Exception) -> bool: +# s = str(e) +# return ( +# "Name or service not known" in s or +# "Failed to resolve" in s or +# "HTTPSConnectionPool" in s or +# isinstance(e, socket.gaierror) +# ) + + +# from typing import Tuple, Optional, Any, Dict +# def get_vision_backbone_and_transform( +# vision_backbone_id: str, +# image_resize_strategy: str, +# image_sequence_len: int, +# *, +# checkpoint_path: Optional[str] = None, +# pretrained: Optional[bool] = None, +# **extra_kwargs: Any, +# ) -> Tuple[VisionBackbone, ImageTransform]: +# """Instantiate a Vision Backbone, returning both the nn.Module wrapper class and default Image Transform.""" +# if vision_backbone_id not in VISION_BACKBONES: +# raise ValueError(f"Vision Backbone `{vision_backbone_id}` is not supported!") + +# vision_cfg = VISION_BACKBONES[vision_backbone_id] + + +# merged_kwargs: Dict[str, Any] = dict(vision_cfg["kwargs"]) +# if pretrained is not None: +# merged_kwargs["pretrained"] = pretrained +# if checkpoint_path is not None: +# merged_kwargs["checkpoint_path"] = checkpoint_path +# merged_kwargs.update(extra_kwargs) + +# vision_backbone: VisionBackbone = vision_cfg["cls"]( +# vision_backbone_id, +# image_resize_strategy, +# image_sequence_len=image_sequence_len, +# **merged_kwargs, +# ) +# image_transform = vision_backbone.get_image_transform() +# return vision_backbone, image_transform + + +def get_llm_backbone_and_tokenizer( + llm_backbone_id: str, + llm_max_length: int = 2048, + hf_token: Optional[str] = None, + inference_mode: bool = False, +) -> Tuple[LLMBackbone, PreTrainedTokenizerBase]: + if llm_backbone_id in LLM_BACKBONES: + llm_cfg = LLM_BACKBONES[llm_backbone_id] + llm_backbone: LLMBackbone = llm_cfg["cls"]( + llm_backbone_id, + llm_max_length=llm_max_length, + hf_token=hf_token, + inference_mode=inference_mode, + **llm_cfg["kwargs"], + ) + tokenizer = llm_backbone.get_tokenizer() + return llm_backbone, tokenizer + + else: + raise ValueError(f"LLM Backbone `{llm_backbone_id}` is not supported!") + + +def get_vlm( + model_id: str, + arch_specifier: str, + vision_backbone: VisionBackbone, + llm_backbone: LLMBackbone, + enable_mixed_precision_training: bool = True, +) -> PrismaticVLM: + """Lightweight wrapper around initializing a VLM, mostly for future-proofing (if one wants to add a new VLM).""" + return PrismaticVLM( + model_id, + vision_backbone, + llm_backbone, + enable_mixed_precision_training=enable_mixed_precision_training, + arch_specifier=arch_specifier, + ) diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/train_files/qwen25.py b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/qwen25.py new file mode 100644 index 0000000000000000000000000000000000000000..29383ed3a1fb5eb7a890ceddab5e4befcb7c3e35 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/qwen25.py @@ -0,0 +1,86 @@ +""" +qwen2_5.py + +Class definition for all LLMs derived from QwenForCausalLM. +""" + +from typing import Optional, Sequence, Type + +import torch +from transformers import AutoModelForCausalLM +from transformers.models.qwen2.modeling_qwen2 import Qwen2DecoderLayer + +from prismatic.models.backbones.llm.base_llm import HFCausalLLMBackbone +from prismatic.models.backbones.llm.prompting.base_prompter import PromptBuilder +from prismatic.models.backbones.llm.prompting.qwen_prompter import QwenPromptBuilder + +# Registry =>> Support Qwen-2.5 Models (from HF Transformers) +# fmt: off +QWEN25_MODELS = { + # === Pure Qwen2.5 (non-instruct/chat-tuned) Models === + "qwen25-0_5b-extra": { + "llm_family": "qwen2.5", "llm_cls": AutoModelForCausalLM, "hf_hub_path": "__LOCAL_QWEN_PATH__" + }, + "qwen25-0_5b-pure": { + "llm_family": "qwen2.5", "llm_cls": AutoModelForCausalLM, "hf_hub_path": "Qwen/Qwen2.5-0.5B" + }, + "qwen25-1_5b-pure": { + "llm_family": "qwen2.5", "llm_cls": AutoModelForCausalLM, "hf_hub_path": "Qwen/Qwen2.5-1.5B" + }, + "qwen25-3b-pure": { + "llm_family": "qwen2.5", "llm_cls": AutoModelForCausalLM, "hf_hub_path": "Qwen/Qwen2.5-3B" + }, + "qwen25-7b-pure": { + "llm_family": "qwen2.5", "llm_cls": AutoModelForCausalLM, "hf_hub_path": "Qwen/Qwen2.5-7B" + }, + +} +# fmt: on + + +class Qwen25LLMBackbone(HFCausalLLMBackbone): + def __init__( + self, + llm_backbone_id: str, + llm_max_length: int = 2048, + hf_token: Optional[str] = None, + inference_mode: bool = False, + use_flash_attention_2: bool = True, + num_extra_tokens: int = 0, + ) -> None: + super().__init__( + llm_backbone_id, + llm_max_length=llm_max_length, + hf_token=hf_token, + inference_mode=inference_mode, + use_flash_attention_2=use_flash_attention_2, + **QWEN25_MODELS[llm_backbone_id], + ) + + # add some more special tokens + if num_extra_tokens > 0: + added = self.tokenizer.add_tokens([f"<|extra_{i}|>" for i in range(num_extra_tokens)]) + assert added == num_extra_tokens, f"Added {added} of {num_extra_tokens} extra tokens to tokenizer!" + print(f"Added {num_extra_tokens} extra tokens.") + + # there is already a special token for Qwen + # self.tokenizer.add_special_tokens({"pad_token": ""}) + self.llm.config.pad_token_id = self.tokenizer.pad_token_id + self.llm.resize_token_embeddings(len(self.tokenizer), pad_to_multiple_of=64) + + @property + def prompt_builder_fn(self) -> Type[PromptBuilder]: + return QwenPromptBuilder + + @property + def transformer_layer_cls(self) -> Type[torch.nn.Module]: + return Qwen2DecoderLayer + + @property + def half_precision_dtype(self) -> torch.dtype: + return torch.bfloat16 + + @property + def last_layer_finetune_modules(self) -> Sequence[torch.nn.Module]: + # TODO not sure that this works + return (self.llm.model.embed_tokens, self.llm.model.layers[-1], self.llm.lm_head) diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/train_files/setup_training.sh b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/setup_training.sh new file mode 100644 index 0000000000000000000000000000000000000000..47735abd3cb8b2a33c99f964fca2a03832c94b78 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/setup_training.sh @@ -0,0 +1,159 @@ +#!/bin/bash +#========== One-click training setup: register dataset + local Qwen + optional local model loading ==========# +# +# Usage: +# bash setup_training.sh [--local-models] +# +# Examples: +# # Register dataset only (vision models loaded from HF Hub) +# bash setup_training.sh bowl_stack_and_shelf_aloha_realworld_50 +# +# # Register dataset + enable local model loading (no internet needed) +# bash setup_training.sh bowl_stack_and_shelf_aloha_realworld_50 --local-models +# +# What it does: +# 1. Adds the dataset entry to configs.py, mixtures.py, transforms.py +# 2. (--local-models) Replaces qwen25.py so qwen25-0_5b-extra loads from the local disk path +# 3. (--local-models) Replaces materialize.py and dinosiglip_vit.py with +# local-loading versions that read vision weights from disk instead of HF Hub +# +# How to restore overwritten files with git: +# cd +# git restore prismatic/models/backbones/llm/qwen25.py +# git restore prismatic/models/materialize.py +# git restore prismatic/models/backbones/vision/dinosiglip_vit.py +# +# How to re-enable network download instead of local files: +# 1. Restore qwen25.py to re-enable HF loading for Qwen: +# git restore prismatic/models/backbones/llm/qwen25.py +# 2. If you previously used --local-models, also restore the two vision files: +# git restore prismatic/models/materialize.py +# git restore prismatic/models/backbones/vision/dinosiglip_vit.py +# +# Local path settings: +# Edit ROOT_DIR / LOCAL_QWEN_PATH / LOCAL_TIMM_PATH below before running this script. +# These values will be written into the overwritten training files. +# + +set -euo pipefail + +# User-configurable local model paths. +ROOT_DIR="${ROOT_DIR:-/path/to/root}" +LOCAL_QWEN_PATH="${LOCAL_QWEN_PATH:-${ROOT_DIR}/ai_models/Qwen/Qwen2.5-0.5B}" +LOCAL_TIMM_PATH="${LOCAL_TIMM_PATH:-${ROOT_DIR}/ai_models/timm}" + +DATASET_NAME="${1:?Usage: bash setup_training.sh [--local-models]}" +LOCAL_MODELS_FLAG="${2:-}" + +# Auto-detect project root (script is at experiments/robot/aloha/train_files/) +SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)" +PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../../../.." && pwd)" + +CONFIGS="${PROJECT_ROOT}/prismatic/vla/datasets/rlds/oxe/configs.py" +MIXTURES="${PROJECT_ROOT}/prismatic/vla/datasets/rlds/oxe/mixtures.py" +TRANSFORMS="${PROJECT_ROOT}/prismatic/vla/datasets/rlds/oxe/transforms.py" + +######################################## +# Step 1: Register dataset +######################################## + +check_exists() { + if grep -q "\"${DATASET_NAME}\"" "$1" 2>/dev/null; then + echo "[SKIP] ${DATASET_NAME} already exists in $(basename $1)" + return 0 + fi + return 1 +} + +render_template() { + local src="$1" + local dst="$2" + local qwen_escaped="${LOCAL_QWEN_PATH//&/\\&}" + local timm_escaped="${LOCAL_TIMM_PATH//&/\\&}" + + sed \ + -e "s|__LOCAL_QWEN_PATH__|${qwen_escaped}|g" \ + -e "s|__LOCAL_TIMM_PATH__|${timm_escaped}|g" \ + "${src}" > "${dst}" +} + +# Add to configs.py +if ! check_exists "${CONFIGS}"; then + sed -i '/^}$/i\ + "'"${DATASET_NAME}"'": {\ + "image_obs_keys": {"primary": "image", "secondary": None, "left_wrist": "left_wrist_image", "right_wrist": "right_wrist_image"},\ + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None},\ + "state_obs_keys": ["state"],\ + "state_encoding": StateEncoding.JOINT_BIMANUAL,\ + "action_encoding": ActionEncoding.JOINT_POS_BIMANUAL,\ + },' "${CONFIGS}" + echo "[ADDED] ${DATASET_NAME} to configs.py" +fi + +# Add to mixtures.py +if ! check_exists "${MIXTURES}"; then + sed -i '/^# fmt: on$/i\ + "'"${DATASET_NAME}"'": [\ + ("'"${DATASET_NAME}"'", 1.0),\ + ],' "${MIXTURES}" + echo "[ADDED] ${DATASET_NAME} to mixtures.py" +fi + +# Add to transforms.py +if ! check_exists "${TRANSFORMS}"; then + sed -i '/^}$/i\ + "'"${DATASET_NAME}"'": aloha_dataset_transform,' "${TRANSFORMS}" + echo "[ADDED] ${DATASET_NAME} to transforms.py" +fi + +echo "[OK] Dataset '${DATASET_NAME}' registered." + +######################################## +# Step 2: Enable local model loading +######################################## + +if [ "${LOCAL_MODELS_FLAG}" = "--local-models" ] || [ "${LOCAL_MODELS_FLAG}" = "--local-vision" ]; then + QWEN25_SRC="${SCRIPT_DIR}/qwen25.py" + QWEN25_DST="${PROJECT_ROOT}/prismatic/models/backbones/llm/qwen25.py" + MATERIALIZE_SRC="${SCRIPT_DIR}/materialize_local_vision.py" + DINOSIGLIP_SRC="${SCRIPT_DIR}/dinosiglip_vit_local_vision.py" + MATERIALIZE_DST="${PROJECT_ROOT}/prismatic/models/materialize.py" + DINOSIGLIP_DST="${PROJECT_ROOT}/prismatic/models/backbones/vision/dinosiglip_vit.py" + + if [ ! -f "${QWEN25_SRC}" ] || [ ! -f "${MATERIALIZE_SRC}" ] || [ ! -f "${DINOSIGLIP_SRC}" ]; then + echo "[ERROR] Local model files not found in ${SCRIPT_DIR}" + exit 1 + fi + + if [[ "${ROOT_DIR}" == "/path/to/root" ]] || [[ "${LOCAL_QWEN_PATH}" == /path/to/root/* ]] || [[ "${LOCAL_TIMM_PATH}" == /path/to/root/* ]]; then + echo "[ERROR] Please set ROOT_DIR, or set LOCAL_QWEN_PATH and LOCAL_TIMM_PATH explicitly before using --local-models." + exit 1 + fi + + render_template "${QWEN25_SRC}" "${QWEN25_DST}" + render_template "${MATERIALIZE_SRC}" "${MATERIALIZE_DST}" + cp "${DINOSIGLIP_SRC}" "${DINOSIGLIP_DST}" + echo "[OK] Local model loading enabled (materialize.py + dinosiglip_vit.py replaced)." + echo " Qwen will be loaded from local disk: ${LOCAL_QWEN_PATH}" + echo " Vision models will be loaded from local disk: ${LOCAL_TIMM_PATH}" +else + echo "[INFO] HF / default model loading remains enabled." + echo " Use --local-models if you want local Qwen + local vision loading." +fi + +echo +echo "Configured local paths:" +echo " LOCAL_QWEN_PATH=${LOCAL_QWEN_PATH}" +echo " LOCAL_TIMM_PATH=${LOCAL_TIMM_PATH}" +echo +echo "Restore commands:" +echo " cd ${PROJECT_ROOT}" +echo " git restore prismatic/models/backbones/llm/qwen25.py" +echo " git restore prismatic/models/materialize.py" +echo " git restore prismatic/models/backbones/vision/dinosiglip_vit.py" +echo +echo "To re-enable network download:" +echo " - Restore qwen25.py to use HF for Qwen." +echo " - If you used --local-models, also restore materialize.py and dinosiglip_vit.py." + +echo "Done." diff --git a/VLA-Adapter-UAV/experiments/robot/aloha/train_files/train_aloha.sh b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/train_aloha.sh new file mode 100644 index 0000000000000000000000000000000000000000..89f12e20212ac4267910b5745f3b285def34306f --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/aloha/train_files/train_aloha.sh @@ -0,0 +1,91 @@ +#!/bin/bash +### + # @Description: raw finetuning script for bottle_cleanup task + # @FilePath: /github_projects/Inspire-cli/.claude/mnt/shared/vla_projects/realworld_vla_adapter/experiments/robot/aloha/train_files/train_aloha.sh +### + +#========== Basic Settings ==========# +PROJECT_PATH=realworld_vla_adapter +SCRIPT_DIR="$(cd "$(dirname "$0")" && pwd)" +PROJECT_ROOT="$(cd "${SCRIPT_DIR}/../../../.." && pwd)" +ROOT_DIR="${ROOT_DIR:-/path/to/root}" +export WANDB_CONSOLE=off +export WANDB_MODE=offline +export PYTHONPATH="${PROJECT_ROOT}" +#========== Training Configuration ==========# +# Dataset and paths +data_name="${DATASET_NAME:-bowl_stack_and_shelf_aloha_realworld_50}" +data_root_dir="${DATA_ROOT_DIR:-${ROOT_DIR}/datasets/cobot_aloha/tfds}" +vlm_path="${VLM_PATH:-${ROOT_DIR}/ai_models/Stanford-ILIAD/prism-qwen25-extra-dinosiglip-224px-0_5b}" +config_file_path="${CONFIG_FILE_PATH:-pretrained_models/configs}" + +# Training parameters +batch_size=12 +grad_accumulation_steps=1 +learning_rate=2e-4 +max_steps=10005 +num_steps_before_decay=5000 +save_freq=2000 +lr_warmup_steps=0 + +# Model configuration +num_images_in_input=3 +lora_rank=64 +use_film=False +use_proprio=True +use_lora=True +use_fz=False +use_minivlm=True +image_aug=True +save_latest_checkpoint_only=False +merge_lora_during_training=True +use_pro_version=True +# Wandb settings +wandb_entity="${WANDB_ENTITY:-your-wandb-entity}" +wandb_project="${WANDB_PROJECT:-vla_adapter}" + +# Generate timestamp and run ID +current_time=$(date +"%Y%m%d_%H%M%S") +run_id_note="raw" + +# Build MODE string with important configuration variables (excluding those already in run_id) +MODE="${run_id_note}_img${num_images_in_input}_mini${use_minivlm}_prop${use_proprio}_pro${use_pro_version}_film${use_film}" + +# Build run_root_dir using MODE +run_root_dir="outputs/${data_name}/${MODE}-$current_time" + +mkdir -p logs + +#========== Training Execution ==========# +torchrun --standalone --nnodes 1 --nproc-per-node 4 vla-scripts/finetune.py \ + --vlm_path $vlm_path \ + --config_file_path $config_file_path \ + --data_root_dir $data_root_dir \ + --dataset_name $data_name \ + --run_root_dir $run_root_dir \ + --use_film $use_film \ + --num_images_in_input $num_images_in_input \ + --use_proprio $use_proprio \ + --use_lora $use_lora \ + --use_fz $use_fz \ + --use_minivlm $use_minivlm \ + --image_aug $image_aug \ + --num_steps_before_decay $num_steps_before_decay \ + --max_steps $max_steps \ + --save_freq $save_freq \ + --save_latest_checkpoint_only $save_latest_checkpoint_only \ + --merge_lora_during_training $merge_lora_during_training \ + --batch_size $batch_size \ + --grad_accumulation_steps $grad_accumulation_steps \ + --learning_rate $learning_rate \ + --lora_rank $lora_rank \ + --use_pro_version $use_pro_version \ + --wandb_entity "$wandb_entity" \ + --wandb_project "$wandb_project" \ + --run_id_note $run_id_note \ + --lr_warmup_steps $lr_warmup_steps + +echo "Training started with run ID: $run_id_note" +echo "Output directory: $run_root_dir" +echo "Log file: logs/$run_id_note.log" +echo "Process ID: $!" diff --git a/VLA-Adapter-UAV/experiments/robot/libero/libero_requirements.txt b/VLA-Adapter-UAV/experiments/robot/libero/libero_requirements.txt new file mode 100644 index 0000000000000000000000000000000000000000..ca0c0467efa33b91ad76d66976da480c1e5f572f --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/libero/libero_requirements.txt @@ -0,0 +1,6 @@ +imageio[ffmpeg] +robosuite==1.4.1 +bddl +easydict +cloudpickle +gym diff --git a/VLA-Adapter-UAV/experiments/robot/libero/libero_utils.py b/VLA-Adapter-UAV/experiments/robot/libero/libero_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..28eb8e20c41d5f48f76ddb37fe376a54917fe8f1 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/libero/libero_utils.py @@ -0,0 +1,87 @@ +"""Utils for evaluating policies in LIBERO simulation environments.""" + +import math +import os + +import imageio +import numpy as np +import tensorflow as tf +from libero.libero import get_libero_path +from libero.libero.envs import OffScreenRenderEnv + +from experiments.robot.robot_utils import ( + DATE, + DATE_TIME, +) + + +def get_libero_env(task, model_family, resolution=256): + """Initializes and returns the LIBERO environment, along with the task description.""" + task_description = task.language + task_bddl_file = os.path.join(get_libero_path("bddl_files"), task.problem_folder, task.bddl_file) + env_args = {"bddl_file_name": task_bddl_file, "camera_heights": resolution, "camera_widths": resolution} + env = OffScreenRenderEnv(**env_args) + env.seed(0) # IMPORTANT: seed seems to affect object positions even when using fixed initial state + return env, task_description + + +def get_libero_dummy_action(model_family: str): + """Get dummy/no-op action, used to roll out the simulation while the robot does nothing.""" + return [0, 0, 0, 0, 0, 0, -1] + + +def get_libero_image(obs): + """Extracts third-person image from observations and preprocesses it.""" + img = obs["agentview_image"] + img = img[::-1, ::-1] # IMPORTANT: rotate 180 degrees to match train preprocessing + return img + + +def get_libero_wrist_image(obs): + """Extracts wrist camera image from observations and preprocesses it.""" + img = obs["robot0_eye_in_hand_image"] + img = img[::-1, ::-1] # IMPORTANT: rotate 180 degrees to match train preprocessing + return img + + +def save_rollout_video(rollout_images, idx, success, task_description, log_file=None, save_version=None): + """Saves an MP4 replay of an episode.""" + rollout_dir = f"./rollouts/{save_version}/{DATE}" + os.makedirs(rollout_dir, exist_ok=True) + processed_task_description = task_description.lower().replace(" ", "_").replace("\n", "_").replace(".", "_")[:50] + mp4_path = f"{rollout_dir}/{DATE_TIME}--episode={idx}--success={success}--task={processed_task_description}.mp4" + video_writer = imageio.get_writer(mp4_path, fps=30) + for img in rollout_images: + video_writer.append_data(img) + video_writer.close() + print(f"Saved rollout MP4 at path {mp4_path}") + if log_file is not None: + log_file.write(f"Saved rollout MP4 at path {mp4_path}\n") + return mp4_path + + +def quat2axisangle(quat): + """ + Copied from robosuite: https://github.com/ARISE-Initiative/robosuite/blob/eafb81f54ffc104f905ee48a16bb15f059176ad3/robosuite/utils/transform_utils.py#L490C1-L512C55 + + Converts quaternion to axis-angle format. + Returns a unit vector direction scaled by its angle in radians. + + Args: + quat (np.array): (x,y,z,w) vec4 float angles + + Returns: + np.array: (ax,ay,az) axis-angle exponential coordinates + """ + # clip quaternion + if quat[3] > 1.0: + quat[3] = 1.0 + elif quat[3] < -1.0: + quat[3] = -1.0 + + den = np.sqrt(1.0 - quat[3] * quat[3]) + if math.isclose(den, 0.0): + # This is (close to) a zero degree rotation, immediately return + return np.zeros(3) + + return (quat[:3] * 2.0 * math.acos(quat[3])) / den diff --git a/VLA-Adapter-UAV/experiments/robot/libero/regenerate_libero_dataset.py b/VLA-Adapter-UAV/experiments/robot/libero/regenerate_libero_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..0966413ee197c6f6a2da4d03310943a84584dbb7 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/libero/regenerate_libero_dataset.py @@ -0,0 +1,249 @@ +""" +Regenerates a LIBERO dataset (HDF5 files) by replaying demonstrations in the environments. + +Notes: + - We save image observations at 256x256px resolution (instead of 128x128). + - We filter out transitions with "no-op" (zero) actions that do not change the robot's state. + - We filter out unsuccessful demonstrations. + - In the LIBERO HDF5 data -> RLDS data conversion (not shown here), we rotate the images by + 180 degrees because we observe that the environments return images that are upside down + on our platform. + +Usage: + python experiments/robot/libero/regenerate_libero_dataset.py \ + --libero_task_suite [ libero_spatial | libero_object | libero_goal | libero_10 ] \ + --libero_raw_data_dir \ + --libero_target_dir + + Example (LIBERO-Spatial): + python experiments/robot/libero/regenerate_libero_dataset.py \ + --libero_task_suite libero_spatial \ + --libero_raw_data_dir ./LIBERO/libero/datasets/libero_spatial \ + --libero_target_dir ./LIBERO/libero/datasets/libero_spatial_no_noops + +""" + +import argparse +import json +import os +import time + +import h5py +import numpy as np +import robosuite.utils.transform_utils as T +import tqdm +from libero.libero import benchmark + +from experiments.robot.libero.libero_utils import ( + get_libero_dummy_action, + get_libero_env, +) + + +IMAGE_RESOLUTION = 256 + + +def is_noop(action, prev_action=None, threshold=1e-4): + """ + Returns whether an action is a no-op action. + + A no-op action satisfies two criteria: + (1) All action dimensions, except for the last one (gripper action), are near zero. + (2) The gripper action is equal to the previous timestep's gripper action. + + Explanation of (2): + Naively filtering out actions with just criterion (1) is not good because you will + remove actions where the robot is staying still but opening/closing its gripper. + So you also need to consider the current state (by checking the previous timestep's + gripper action as a proxy) to determine whether the action really is a no-op. + """ + # Special case: Previous action is None if this is the first action in the episode + # Then we only care about criterion (1) + if prev_action is None: + return np.linalg.norm(action[:-1]) < threshold + + # Normal case: Check both criteria (1) and (2) + gripper_action = action[-1] + prev_gripper_action = prev_action[-1] + return np.linalg.norm(action[:-1]) < threshold and gripper_action == prev_gripper_action + + +def main(args): + print(f"Regenerating {args.libero_task_suite} dataset!") + + # Create target directory + if os.path.isdir(args.libero_target_dir): + user_input = input(f"Target directory already exists at path: {args.libero_target_dir}\nEnter 'y' to overwrite the directory, or anything else to exit: ") + if user_input != 'y': + exit() + os.makedirs(args.libero_target_dir, exist_ok=True) + + # Prepare JSON file to record success/false and initial states per episode + metainfo_json_dict = {} + metainfo_json_out_path = f"./experiments/robot/libero/{args.libero_task_suite}_metainfo.json" + with open(metainfo_json_out_path, "w") as f: + # Just test that we can write to this file (we overwrite it later) + json.dump(metainfo_json_dict, f) + + # Get task suite + benchmark_dict = benchmark.get_benchmark_dict() + task_suite = benchmark_dict[args.libero_task_suite]() + num_tasks_in_suite = task_suite.n_tasks + + # Setup + num_replays = 0 + num_success = 0 + num_noops = 0 + + for task_id in tqdm.tqdm(range(num_tasks_in_suite)): + # Get task in suite + task = task_suite.get_task(task_id) + env, task_description = get_libero_env(task, "llava", resolution=IMAGE_RESOLUTION) + + # Get dataset for task + orig_data_path = os.path.join(args.libero_raw_data_dir, f"{task.name}_demo.hdf5") + assert os.path.exists(orig_data_path), f"Cannot find raw data file {orig_data_path}." + orig_data_file = h5py.File(orig_data_path, "r") + orig_data = orig_data_file["data"] + + # Create new HDF5 file for regenerated demos + new_data_path = os.path.join(args.libero_target_dir, f"{task.name}_demo.hdf5") + new_data_file = h5py.File(new_data_path, "w") + grp = new_data_file.create_group("data") + + for i in range(len(orig_data.keys())): + # Get demo data + demo_data = orig_data[f"demo_{i}"] + orig_actions = demo_data["actions"][()] + orig_states = demo_data["states"][()] + + # Reset environment, set initial state, and wait a few steps for environment to settle + env.reset() + env.set_init_state(orig_states[0]) + for _ in range(10): + obs, reward, done, info = env.step(get_libero_dummy_action("llava")) + + # Set up new data lists + states = [] + actions = [] + ee_states = [] + gripper_states = [] + joint_states = [] + robot_states = [] + agentview_images = [] + eye_in_hand_images = [] + + # Replay original demo actions in environment and record observations + for _, action in enumerate(orig_actions): + # Skip transitions with no-op actions + prev_action = actions[-1] if len(actions) > 0 else None + if is_noop(action, prev_action): + print(f"\tSkipping no-op action: {action}") + num_noops += 1 + continue + + if states == []: + # In the first timestep, since we're using the original initial state to initialize the environment, + # copy the initial state (first state in episode) over from the original HDF5 to the new one + states.append(orig_states[0]) + robot_states.append(demo_data["robot_states"][0]) + else: + # For all other timesteps, get state from environment and record it + states.append(env.sim.get_state().flatten()) + robot_states.append( + np.concatenate([obs["robot0_gripper_qpos"], obs["robot0_eef_pos"], obs["robot0_eef_quat"]]) + ) + + # Record original action (from demo) + actions.append(action) + + # Record data returned by environment + if "robot0_gripper_qpos" in obs: + gripper_states.append(obs["robot0_gripper_qpos"]) + joint_states.append(obs["robot0_joint_pos"]) + ee_states.append( + np.hstack( + ( + obs["robot0_eef_pos"], + T.quat2axisangle(obs["robot0_eef_quat"]), + ) + ) + ) + agentview_images.append(obs["agentview_image"]) + eye_in_hand_images.append(obs["robot0_eye_in_hand_image"]) + + # Execute demo action in environment + obs, reward, done, info = env.step(action.tolist()) + + # At end of episode, save replayed trajectories to new HDF5 files (only keep successes) + if done: + dones = np.zeros(len(actions)).astype(np.uint8) + dones[-1] = 1 + rewards = np.zeros(len(actions)).astype(np.uint8) + rewards[-1] = 1 + assert len(actions) == len(agentview_images) + + ep_data_grp = grp.create_group(f"demo_{i}") + obs_grp = ep_data_grp.create_group("obs") + obs_grp.create_dataset("gripper_states", data=np.stack(gripper_states, axis=0)) + obs_grp.create_dataset("joint_states", data=np.stack(joint_states, axis=0)) + obs_grp.create_dataset("ee_states", data=np.stack(ee_states, axis=0)) + obs_grp.create_dataset("ee_pos", data=np.stack(ee_states, axis=0)[:, :3]) + obs_grp.create_dataset("ee_ori", data=np.stack(ee_states, axis=0)[:, 3:]) + obs_grp.create_dataset("agentview_rgb", data=np.stack(agentview_images, axis=0)) + obs_grp.create_dataset("eye_in_hand_rgb", data=np.stack(eye_in_hand_images, axis=0)) + ep_data_grp.create_dataset("actions", data=actions) + ep_data_grp.create_dataset("states", data=np.stack(states)) + ep_data_grp.create_dataset("robot_states", data=np.stack(robot_states, axis=0)) + ep_data_grp.create_dataset("rewards", data=rewards) + ep_data_grp.create_dataset("dones", data=dones) + + num_success += 1 + + num_replays += 1 + + # Record success/false and initial environment state in metainfo dict + task_key = task_description.replace(" ", "_") + episode_key = f"demo_{i}" + if task_key not in metainfo_json_dict: + metainfo_json_dict[task_key] = {} + if episode_key not in metainfo_json_dict[task_key]: + metainfo_json_dict[task_key][episode_key] = {} + metainfo_json_dict[task_key][episode_key]["success"] = bool(done) + metainfo_json_dict[task_key][episode_key]["initial_state"] = orig_states[0].tolist() + + # Write metainfo dict to JSON file + # (We repeatedly overwrite, rather than doing this once at the end, just in case the script crashes midway) + with open(metainfo_json_out_path, "w") as f: + json.dump(metainfo_json_dict, f, indent=2) + + # Count total number of successful replays so far + print( + f"Total # episodes replayed: {num_replays}, Total # successes: {num_success} ({num_success / num_replays * 100:.1f} %)" + ) + + # Report total number of no-op actions filtered out so far + print(f" Total # no-op actions filtered out: {num_noops}") + + # Close HDF5 files + orig_data_file.close() + new_data_file.close() + print(f"Saved regenerated demos for task '{task_description}' at: {new_data_path}") + + print(f"Dataset regeneration complete! Saved new dataset at: {args.libero_target_dir}") + print(f"Saved metainfo JSON at: {metainfo_json_out_path}") + + +if __name__ == "__main__": + # Parse command-line arguments + parser = argparse.ArgumentParser() + parser.add_argument("--libero_task_suite", type=str, choices=["libero_spatial", "libero_object", "libero_goal", "libero_10", "libero_90"], + help="LIBERO task suite. Example: libero_spatial", required=True) + parser.add_argument("--libero_raw_data_dir", type=str, + help="Path to directory containing raw HDF5 dataset. Example: ./LIBERO/libero/datasets/libero_spatial", required=True) + parser.add_argument("--libero_target_dir", type=str, + help="Path to regenerated dataset directory. Example: ./LIBERO/libero/datasets/libero_spatial_no_noops", required=True) + args = parser.parse_args() + + # Start data regeneration + main(args) diff --git a/VLA-Adapter-UAV/experiments/robot/libero/run_libero_eval.py b/VLA-Adapter-UAV/experiments/robot/libero/run_libero_eval.py new file mode 100644 index 0000000000000000000000000000000000000000..cb84517f30e2e6d5bf2c3fa1c3df8cf3b5301640 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/libero/run_libero_eval.py @@ -0,0 +1,555 @@ +""" +run_libero_eval.py + +Evaluates a trained policy in a LIBERO simulation benchmark task suite. +""" + +import json +import logging +import os +import sys +from collections import deque +from dataclasses import dataclass +from enum import Enum +from pathlib import Path +from typing import Optional, Union + +import draccus +import numpy as np +import tqdm +from libero.libero import benchmark + +import wandb + +# Append current directory so that interpreter can find experiments.robot +sys.path.append("../..") +from experiments.robot.libero.libero_utils import ( + get_libero_dummy_action, + get_libero_env, + get_libero_image, + get_libero_wrist_image, + quat2axisangle, + save_rollout_video, +) +from experiments.robot.openvla_utils import ( + get_action_head, + get_noisy_action_projector, + get_processor, + get_proprio_projector, + resize_image_for_policy, +) +from experiments.robot.robot_utils import ( + DATE_TIME, + get_action, + get_image_resize_size, + get_model, + invert_gripper_action, + normalize_gripper_action, + set_seed_everywhere, +) +from prismatic.vla.constants import NUM_ACTIONS_CHUNK + + +# Define task suite constants +class TaskSuite(str, Enum): + LIBERO_SPATIAL = "libero_spatial" + LIBERO_OBJECT = "libero_object" + LIBERO_GOAL = "libero_goal" + LIBERO_10 = "libero_10" + LIBERO_90 = "libero_90" + + +# Define max steps for each task suite +TASK_MAX_STEPS = { + TaskSuite.LIBERO_SPATIAL: 220, # longest training demo has 193 steps + TaskSuite.LIBERO_OBJECT: 280, # longest training demo has 254 steps + TaskSuite.LIBERO_GOAL: 300, # longest training demo has 270 steps + TaskSuite.LIBERO_10: 520, # longest training demo has 505 steps + TaskSuite.LIBERO_90: 400, # longest training demo has 373 steps +} + + +# Set up logging +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s [%(levelname)s] %(message)s", + handlers=[logging.StreamHandler()], +) +logger = logging.getLogger(__name__) + + + +@dataclass +class GenerateConfig: + # fmt: off + + ################################################################################################################# + # Model-specific parameters + ################################################################################################################# + model_family: str = "openvla" # Model family + pretrained_checkpoint: Union[str, Path] = "" # Pretrained checkpoint path + use_l1_regression: bool = True # If True, uses continuous action head with L1 regression objective + use_minivlm: bool = True # If True, uses minivlm + num_diffusion_steps: int = 50 # (When `diffusion==True`) Number of diffusion steps for inference + use_film: bool = False # If True, uses FiLM to infuse language inputs into visual features + num_images_in_input: int = 2 # Number of images in the VLA input (default: 1) + use_proprio: bool = True # Whether to include proprio state in input + + center_crop: bool = True # Center crop? (if trained w/ random crop image aug) + num_open_loop_steps: int = 8 # Number of actions to execute open-loop before requerying policy + unnorm_key: Union[str, Path] = "" # Action un-normalization key + + load_in_8bit: bool = False # (For OpenVLA only) Load with 8-bit quantization + load_in_4bit: bool = False # (For OpenVLA only) Load with 4-bit quantization + + ################################################################################################################# + # LIBERO environment-specific parameters + ################################################################################################################# + task_suite_name: str = TaskSuite.LIBERO_SPATIAL # Task suite + num_steps_wait: int = 10 # Number of steps to wait for objects to stabilize in sim + num_trials_per_task: int = 50 # Number of rollouts per task + initial_states_path: str = "DEFAULT" # "DEFAULT", or path to initial states JSON file + env_img_res: int = 256 # Resolution for environment images (not policy input resolution) + + ################################################################################################################# + # Utils + ################################################################################################################# + run_id_note: Optional[str] = None # Extra note to add to end of run ID for logging + local_log_dir: str = "./experiments/logs" # Local directory for eval logs + + use_wandb: bool = False # Whether to also log results in Weights & Biases + wandb_entity: str = "your-wandb-entity" # Name of WandB entity + wandb_project: str = "your-wandb-project" # Name of WandB project + + seed: int = 7 # Random Seed (for reproducibility) + + # fmt: on + save_version: str = "vla-adapter" # version of + use_pro_version: bool = True # encourage to use the pro models we released. + phase: str = "Inference" + + + +def validate_config(cfg: GenerateConfig) -> None: + """Validate configuration parameters.""" + assert cfg.pretrained_checkpoint is not None, "pretrained_checkpoint must not be None!" + + if "image_aug" in str(cfg.pretrained_checkpoint): + assert cfg.center_crop, "Expecting `center_crop==True` because model was trained with image augmentations!" + + assert not (cfg.load_in_8bit and cfg.load_in_4bit), "Cannot use both 8-bit and 4-bit quantization!" + + # Validate task suite + assert cfg.task_suite_name in [suite.value for suite in TaskSuite], f"Invalid task suite: {cfg.task_suite_name}" + + + +def initialize_model(cfg: GenerateConfig): + """Initialize model and associated components.""" + # Load model + model = get_model(cfg) + model.set_version(cfg.save_version) + # Load proprio projector if needed + proprio_projector = None + if cfg.use_proprio: + proprio_projector = get_proprio_projector( + cfg, + model.llm_dim, + proprio_dim=8, # 8-dimensional proprio for LIBERO + ) + + # Load action head if needed + action_head = None + if cfg.use_l1_regression: + action_head = get_action_head(cfg, model.llm_dim) + + # Load noisy action projector if using diffusion + noisy_action_projector = None + + # Get OpenVLA processor if needed + processor = None + if cfg.model_family == "openvla": + processor = get_processor(cfg) + check_unnorm_key(cfg, model) + + return model, action_head, proprio_projector, noisy_action_projector, processor + + +def check_unnorm_key(cfg: GenerateConfig, model) -> None: + """Check that the model contains the action un-normalization key.""" + # Initialize unnorm_key + unnorm_key = cfg.task_suite_name + + # In some cases, the key must be manually modified (e.g. after training on a modified version of the dataset + # with the suffix "_no_noops" in the dataset name) + if unnorm_key not in model.norm_stats and f"{unnorm_key}_no_noops" in model.norm_stats: + unnorm_key = f"{unnorm_key}_no_noops" + + assert unnorm_key in model.norm_stats, f"Action un-norm key {unnorm_key} not found in VLA `norm_stats`!" + + # Set the unnorm_key in cfg + cfg.unnorm_key = unnorm_key + + + +def setup_logging(cfg: GenerateConfig): + """Set up logging to file and optionally to wandb.""" + # Create run ID + run_id = f"EVAL-{cfg.task_suite_name}-{cfg.model_family}-{DATE_TIME}" + if cfg.run_id_note is not None: + run_id += f"--{cfg.run_id_note}" + + # Set up local logging + os.makedirs(cfg.local_log_dir, exist_ok=True) + local_log_filepath = os.path.join(cfg.local_log_dir, run_id + ".txt") + log_file = open(local_log_filepath, "w") + logger.info(f"Logging to local log file: {local_log_filepath}") + + # Initialize Weights & Biases logging if enabled + if cfg.use_wandb: + wandb.init( + entity=cfg.wandb_entity, + project=cfg.wandb_project, + name=run_id, + ) + + return log_file, local_log_filepath, run_id + + + +def log_message(message: str, log_file=None): + """Log a message to console and optionally to a log file.""" + logger.info(message) + if log_file: + log_file.write(message + "\n") + log_file.flush() + + + +def load_initial_states(cfg: GenerateConfig, task_suite, task_id: int, log_file=None): + """Load initial states for the given task.""" + # Get default initial states + initial_states = task_suite.get_task_init_states(task_id) + + # If using custom initial states, load them from file + if cfg.initial_states_path != "DEFAULT": + with open(cfg.initial_states_path, "r") as f: + all_initial_states = json.load(f) + log_message(f"Using initial states from {cfg.initial_states_path}", log_file) + return initial_states, all_initial_states + else: + log_message("Using default initial states", log_file) + return initial_states, None + + + +def prepare_observation(obs, resize_size): + """Prepare observation for policy input.""" + # Get preprocessed images + img = get_libero_image(obs) + wrist_img = get_libero_wrist_image(obs) + + # Resize images to size expected by model + img_resized = resize_image_for_policy(img, resize_size) + wrist_img_resized = resize_image_for_policy(wrist_img, resize_size) + + # Prepare observations dict + observation = { + "full_image": img_resized, + "wrist_image": wrist_img_resized, + "state": np.concatenate( + (obs["robot0_eef_pos"], quat2axisangle(obs["robot0_eef_quat"]), obs["robot0_gripper_qpos"]) + ), + } + + return observation, img # Return both processed observation and original image for replay + + + +def process_action(action, model_family): + """Process action before sending to environment.""" + # Normalize gripper action [0,1] -> [-1,+1] because the environment expects the latter + action = normalize_gripper_action(action, binarize=True) + + # [OpenVLA] The dataloader flips the sign of the gripper action to align with other datasets + # (0 = close, 1 = open), so flip it back (-1 = open, +1 = close) before executing the action + if model_family == "openvla": + action = invert_gripper_action(action) + + return action + + + +def run_episode( + cfg: GenerateConfig, + env, + task_description: str, + model, + resize_size, + processor=None, + action_head=None, + proprio_projector=None, + noisy_action_projector=None, + initial_state=None, + log_file=None, +): + """Run a single episode in the environment.""" + # Reset environment + env.reset() + + # Set initial state if provided + if initial_state is not None: + obs = env.set_init_state(initial_state) + else: + obs = env.get_observation() + + # Initialize action queue + if cfg.num_open_loop_steps != NUM_ACTIONS_CHUNK: + print(f"WARNING: cfg.num_open_loop_steps ({cfg.num_open_loop_steps}) does not match the NUM_ACTIONS_CHUNK " + "{NUM_ACTIONS_CHUNK} constant defined in prismatic.vla.constants! For best performance (in terms of " + "both speed and success rate), we recommend executing the full action chunk.") + action_queue = deque(maxlen=cfg.num_open_loop_steps) + + # Setup + t = 0 + replay_images = [] + max_steps = TASK_MAX_STEPS[cfg.task_suite_name] + + # Run episode + success = False + try: + while t < max_steps + cfg.num_steps_wait: + # Do nothing for the first few timesteps to let objects stabilize + if t < cfg.num_steps_wait: + obs, reward, done, info = env.step(get_libero_dummy_action(cfg.model_family)) + t += 1 + continue + + # Prepare observation + observation, img = prepare_observation(obs, resize_size) + replay_images.append(img) + + # If action queue is empty, requery model + if len(action_queue) == 0: + # Query model to get action + actions = get_action( + cfg, + model, + observation, + task_description, + processor=processor, + action_head=action_head, + proprio_projector=proprio_projector, + noisy_action_projector=noisy_action_projector, + use_film=cfg.use_film, + use_minivlm=cfg.use_minivlm + ) + + action_queue.extend(actions) + + # Get action from queue + action = action_queue.popleft() + # action = actions[0] + + + # Process action + action = process_action(action, cfg.model_family) + + # Execute action in environment + obs, reward, done, info = env.step(action.tolist()) + if done: + success = True + break + t += 1 + + except Exception as e: + log_message(f"Episode error: {e}", log_file) + + return success, replay_images + + + + +def run_task( + cfg: GenerateConfig, + task_suite, + task_id: int, + model, + resize_size, + processor=None, + action_head=None, + proprio_projector=None, + noisy_action_projector=None, + total_episodes=0, + total_successes=0, + log_file=None, + save_version=None +): + """Run evaluation for a single task.""" + # Get task + # task_id = 8 + task = task_suite.get_task(task_id) + + # Get initial states + initial_states, all_initial_states = load_initial_states(cfg, task_suite, task_id, log_file) + + # Initialize environment and get task description + env, task_description = get_libero_env(task, cfg.model_family, resolution=cfg.env_img_res) + + # Start episodes + task_episodes, task_successes = 0, 0 + for episode_idx in tqdm.tqdm(range(cfg.num_trials_per_task)): + log_message(f"\nTask: {task_description}", log_file) + + # Handle initial state + if cfg.initial_states_path == "DEFAULT": + # Use default initial state + initial_state = initial_states[episode_idx] + else: + # Get keys for fetching initial episode state from JSON + initial_states_task_key = task_description.replace(" ", "_") + episode_key = f"demo_{episode_idx}" + + # Skip episode if expert demonstration failed to complete the task + if not all_initial_states[initial_states_task_key][episode_key]["success"]: + log_message(f"Skipping task {task_id} episode {episode_idx} due to failed expert demo!", log_file) + continue + + # Get initial state + initial_state = np.array(all_initial_states[initial_states_task_key][episode_key]["initial_state"]) + + log_message(f"Starting episode {task_episodes + 1}...", log_file) + + # Run episode + success, replay_images = run_episode( + cfg, + env, + task_description, + model, + resize_size, + processor, + action_head, + proprio_projector, + noisy_action_projector, + initial_state, + log_file, + ) + + # Update counters + task_episodes += 1 + total_episodes += 1 + if success: + task_successes += 1 + total_successes += 1 + + # Save replay video + save_rollout_video( + replay_images, total_episodes, success=success, task_description=task_description, log_file=log_file, save_version=save_version + ) + + # Log results + log_message(f"Success: {success}", log_file) + log_message(f"# episodes completed so far: {total_episodes}", log_file) + log_message(f"# successes: {total_successes} ({total_successes / total_episodes * 100:.1f}%)", log_file) + + # Log task results + task_success_rate = float(task_successes) / float(task_episodes) if task_episodes > 0 else 0 + total_success_rate = float(total_successes) / float(total_episodes) if total_episodes > 0 else 0 + + log_message(f"Current task success rate: {task_success_rate}", log_file) + log_message(f"Current total success rate: {total_success_rate}", log_file) + + # close env + env.close() + del env + + # Log to wandb if enabled + if cfg.use_wandb: + wandb.log( + { + f"success_rate/{task_description}": task_success_rate, + f"num_episodes/{task_description}": task_episodes, + } + ) + + return total_episodes, total_successes + + + +@draccus.wrap() +def eval_libero(cfg: GenerateConfig) -> float: + """Main function to evaluate a trained policy on LIBERO benchmark tasks.""" + # Validate configuration + validate_config(cfg) + + # Set random seed + set_seed_everywhere(cfg.seed) + + # Initialize model and components + model, action_head, proprio_projector, noisy_action_projector, processor = initialize_model(cfg) + + # for name, param in model.named_parameters(): + # if 'action_queries' in name: + # print(f"{name}: {param}") + + # Get expected image dimensions + resize_size = get_image_resize_size(cfg) + + # Setup logging + log_file, local_log_filepath, run_id = setup_logging(cfg) + + # Initialize LIBERO task suite + benchmark_dict = benchmark.get_benchmark_dict() + task_suite = benchmark_dict[cfg.task_suite_name]() + num_tasks = task_suite.n_tasks + + log_message(f"Task suite: {cfg.task_suite_name}", log_file) + + # Start evaluation + total_episodes, total_successes = 0, 0 + for task_id in tqdm.tqdm(range(num_tasks)): + total_episodes, total_successes = run_task( + cfg, + task_suite, + task_id, + model, + resize_size, + processor, + action_head, + proprio_projector, + noisy_action_projector, + total_episodes, + total_successes, + log_file, + cfg.save_version + ) + + # Calculate final success rate + final_success_rate = float(total_successes) / float(total_episodes) if total_episodes > 0 else 0 + + # Log final results + log_message("Final results:", log_file) + log_message(f"Total episodes: {total_episodes}", log_file) + log_message(f"Total successes: {total_successes}", log_file) + log_message(f"Overall success rate: {final_success_rate:.4f} ({final_success_rate * 100:.1f}%)", log_file) + + # Log to wandb if enabled + if cfg.use_wandb: + wandb.log( + { + "success_rate/total": final_success_rate, + "num_episodes/total": total_episodes, + } + ) + wandb.save(local_log_filepath) + + # Close log file + if log_file: + log_file.close() + + return final_success_rate + + + +if __name__ == "__main__": + eval_libero() diff --git a/VLA-Adapter-UAV/experiments/robot/libero/sample_libero_spatial_observation.pkl b/VLA-Adapter-UAV/experiments/robot/libero/sample_libero_spatial_observation.pkl new file mode 100644 index 0000000000000000000000000000000000000000..508c2640125e9279e4e5e2a9fbeadca1dd9bade2 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/libero/sample_libero_spatial_observation.pkl @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:326db6c78dd0a9d91c11f05af03b93fa3095338ee3cb5a5eb15adf3d87eb0109 +size 301501 diff --git a/VLA-Adapter-UAV/experiments/robot/openvla_utils.py b/VLA-Adapter-UAV/experiments/robot/openvla_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..f1d512fb9c3ff18f25774fc12d432ac5f058301d --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/openvla_utils.py @@ -0,0 +1,850 @@ +"""Utils for evaluating VLA-Adapter or fine-tuned VLA-Adapter policies.""" + +import filecmp +import json +import os +import shutil +import time +from datetime import datetime +from pathlib import Path +from typing import Any, Dict, List, Optional, Tuple, Union + +import json_numpy +import numpy as np +import requests +import tensorflow as tf +import torch +from huggingface_hub import HfApi, hf_hub_download +from PIL import Image +from transformers import AutoConfig, AutoImageProcessor, AutoModelForVision2Seq, AutoProcessor + +# Apply JSON numpy patch for serialization +json_numpy.patch() + +from prismatic.extern.hf.configuration_prismatic import OpenVLAConfig +from prismatic.extern.hf.modeling_prismatic import OpenVLAForActionPrediction +from prismatic.extern.hf.processing_prismatic import PrismaticImageProcessor, PrismaticProcessor +from prismatic.models.action_heads import L1RegressionActionHead +from prismatic.models.film_vit_wrapper import FiLMedPrismaticVisionBackbone +from prismatic.models.projectors import NoisyActionProjector, ProprioProjector +from prismatic.vla.constants import ( + ACTION_DIM, + ACTION_PROPRIO_NORMALIZATION_TYPE, +) +from prismatic.vla.datasets.rlds.utils.data_utils import NormalizationType + +# Initialize important constants +DATE = time.strftime("%Y_%m_%d") +DATE_TIME = time.strftime("%Y_%m_%d-%H_%M_%S") +DEVICE = torch.device("cuda:0") if torch.cuda.is_available() else torch.device("cpu") +OPENVLA_IMAGE_SIZE = 224 # Standard image size expected by OpenVLA + +# Configure NumPy print settings +np.set_printoptions(formatter={"float": lambda x: "{0:0.8f}".format(x)}) + + +def model_is_on_hf_hub(model_path: str) -> bool: + """Checks whether a model path points to a model on Hugging Face Hub.""" + # Local paths should never trigger a Hub lookup; otherwise each rank can block + # on a pointless network probe before training starts. + if os.path.exists(os.path.expanduser(model_path)): + return False + + # If the API call below runs without error, the model is on the hub + try: + HfApi().model_info(model_path) + return True + except Exception: + return False + + +def update_auto_map(pretrained_checkpoint: str) -> None: + """ + Update the AutoMap configuration in the checkpoint config.json file. + + This loads the config.json file inside the checkpoint directory and overwrites + the AutoConfig and AutoModelForVision2Seq fields to use OpenVLA-specific classes. + + Args: + pretrained_checkpoint: Path to the checkpoint directory + """ + if not os.path.isdir(pretrained_checkpoint): + return + + config_path = os.path.join(pretrained_checkpoint, "config.json") + if not os.path.exists(config_path): + print(f"Warning: No config.json found at {config_path}") + return + + # Create timestamped backup + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + backup_path = os.path.join(pretrained_checkpoint, f"config.json.back.{timestamp}") + shutil.copy2(config_path, backup_path) + print(f"Created backup of original config at: {os.path.abspath(backup_path)}") + + # Read and update the config + with open(config_path, "r") as f: + config = json.load(f) + + config["auto_map"] = { + "AutoConfig": "configuration_prismatic.OpenVLAConfig", + "AutoModelForVision2Seq": "modeling_prismatic.OpenVLAForActionPrediction", + } + + # Write back the updated config + with open(config_path, "w") as f: + json.dump(config, f, indent=2) + + print(f"Updated config.json at: {os.path.abspath(config_path)}") + print("Changes made:") + print(' - Set AutoConfig to "configuration_prismatic.OpenVLAConfig"') + print(' - Set AutoModelForVision2Seq to "modeling_prismatic.OpenVLAForActionPrediction"') + + +def check_identical_files(path1: Union[str, Path], path2: Union[str, Path]) -> bool: + """ + Check if two files are identical in content. + + Args: + path1: Path to the first file + path2: Path to the second file + + Returns: + bool: True if files are identical, False otherwise + """ + path1, path2 = Path(path1), Path(path2) + + # First check if file sizes match + if path1.stat().st_size != path2.stat().st_size: + return False + + # Check if contents match + return filecmp.cmp(path1, path2, shallow=False) + + +def _handle_file_sync(curr_filepath: str, checkpoint_filepath: str, file_type: str) -> None: + """ + Handle syncing of files between current directory and checkpoint. + + Creates backups if files exist but differ, and copies current versions to checkpoint. + + Args: + curr_filepath: Path to the current file version + checkpoint_filepath: Path where the file should be in the checkpoint + file_type: Description of the file type for logging + """ + if os.path.exists(checkpoint_filepath): + # Check if existing files are identical + match = check_identical_files(curr_filepath, checkpoint_filepath) + + if not match: + print( + "\n------------------------------------------------------------------------------------------------\n" + f"Found mismatch between:\n" + f"Current: {curr_filepath}\n" + f"Checkpoint: {checkpoint_filepath}\n" + ) + + # Create timestamped backup + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + backup_path = f"{checkpoint_filepath}.back.{timestamp}" + shutil.copy2(checkpoint_filepath, backup_path) + print(f"Created backup of original checkpoint file at: {os.path.abspath(backup_path)}") + + # Copy current version to checkpoint directory + shutil.copy2(curr_filepath, checkpoint_filepath) + print(f"Copied current version to checkpoint at: {os.path.abspath(checkpoint_filepath)}") + print( + f"Changes complete. The checkpoint will now use the current version of {file_type}" + "\n------------------------------------------------------------------------------------------------\n" + ) + else: + # If file doesn't exist in checkpoint directory, copy it + shutil.copy2(curr_filepath, checkpoint_filepath) + print( + "\n------------------------------------------------------------------------------------------------\n" + f"No {file_type} found in checkpoint directory.\n" + f"Copied current version from: {curr_filepath}\n" + f"To checkpoint location: {os.path.abspath(checkpoint_filepath)}" + "\n------------------------------------------------------------------------------------------------\n" + ) + + +def check_model_logic_mismatch(pretrained_checkpoint: str) -> None: + """ + Check and sync model logic files between current code and checkpoint. + + Handles the relationship between current and checkpoint versions of both + modeling_prismatic.py and configuration_prismatic.py: + - If checkpoint file exists and differs: creates backup and copies current version + - If checkpoint file doesn't exist: copies current version + + Args: + pretrained_checkpoint: Path to the checkpoint directory + """ + if not os.path.isdir(pretrained_checkpoint): + return + + # Find current files + curr_files = {"modeling_prismatic.py": None, "configuration_prismatic.py": None} + + for root, _, files in os.walk("./prismatic/"): + for filename in curr_files.keys(): + if filename in files and curr_files[filename] is None: + curr_files[filename] = os.path.join(root, filename) + + # Check and handle each file + for filename, curr_filepath in curr_files.items(): + if curr_filepath is None: + print(f"WARNING: `{filename}` is not found anywhere in the current directory.") + continue + + checkpoint_filepath = os.path.join(pretrained_checkpoint, filename) + _handle_file_sync(curr_filepath, checkpoint_filepath, filename) + + +def find_checkpoint_file(pretrained_checkpoint: str, file_pattern: str) -> str: + """ + Find a specific checkpoint file matching a pattern. + + Args: + pretrained_checkpoint: Path to the checkpoint directory + file_pattern: String pattern to match in filenames + + Returns: + str: Path to the matching checkpoint file + + Raises: + AssertionError: If no files or multiple files match the pattern + """ + assert os.path.isdir(pretrained_checkpoint), f"Checkpoint path must be a directory: {pretrained_checkpoint}" + + checkpoint_files = [] + for filename in os.listdir(pretrained_checkpoint): + if file_pattern in filename and "checkpoint" in filename: + full_path = os.path.join(pretrained_checkpoint, filename) + checkpoint_files.append(full_path) + + assert len(checkpoint_files) == 1, ( + f"Expected exactly 1 {file_pattern} checkpoint but found {len(checkpoint_files)} in directory: {pretrained_checkpoint}" + ) + + return checkpoint_files[0] + + +def load_component_state_dict(checkpoint_path: str) -> Dict[str, torch.Tensor]: + """ + Load a component's state dict from checkpoint and handle DDP prefix if present. + + Args: + checkpoint_path: Path to the checkpoint file + + Returns: + Dict: The processed state dictionary for loading + """ + state_dict = torch.load(checkpoint_path, weights_only=True) + + # If the component was trained with DDP, elements in the state dict have prefix "module." which we must remove + new_state_dict = {} + for k, v in state_dict.items(): + if k.startswith("module."): + new_state_dict[k[7:]] = v + else: + new_state_dict[k] = v + + return new_state_dict + +def load_component_state_dict_v1(checkpoint_path: str) -> Dict[str, torch.Tensor]: + """ + Load a component's state dict from checkpoint and handle DDP prefix if present. + + Args: + checkpoint_path: Path to the checkpoint file + + Returns: + Dict: The processed state dictionary for loading + """ + state_dict = torch.load(checkpoint_path, weights_only=True) + + # If the component was trained with DDP, elements in the state dict have prefix "module." which we must remove + new_state_dict = {} + for k, v in state_dict.items(): + new_state_dict[k] = v + + return new_state_dict + + +def get_vla(cfg: Any) -> torch.nn.Module: + """ + Load and initialize the VLA model from checkpoint. + + Args: + cfg: Configuration object + + Returns: + torch.nn.Module: The initialized VLA model + """ + print("Instantiating pretrained VLA policy...") + + # If loading a locally stored pretrained checkpoint, check whether config or model files + # need to be synced so that any changes the user makes to the VLA modeling code will + # actually go into effect + # If loading a pretrained checkpoint from Hugging Face Hub, we just assume that the policy + # will be used as is, with its original modeling logic + if not model_is_on_hf_hub(cfg.pretrained_checkpoint): + # Register OpenVLA model to HF Auto Classes (not needed if the model is on HF Hub) + AutoConfig.register("openvla", OpenVLAConfig) + AutoImageProcessor.register(OpenVLAConfig, PrismaticImageProcessor) + AutoProcessor.register(OpenVLAConfig, PrismaticProcessor) + AutoModelForVision2Seq.register(OpenVLAConfig, OpenVLAForActionPrediction) + + # Update config.json and sync model files + update_auto_map(cfg.pretrained_checkpoint) + check_model_logic_mismatch(cfg.pretrained_checkpoint) + + # Load the model + vla = AutoModelForVision2Seq.from_pretrained( + cfg.pretrained_checkpoint, + # attn_implementation="flash_attention_2", + torch_dtype=torch.bfloat16, + load_in_8bit=cfg.load_in_8bit, + load_in_4bit=cfg.load_in_4bit, + low_cpu_mem_usage=False, + trust_remote_code=False, + ) + + # If using FiLM, wrap the vision backbone to allow for infusion of language inputs + if cfg.use_film: + vla = _apply_film_to_vla(vla, cfg) + + # Set number of images in model input + vla.vision_backbone.set_num_images_in_input(cfg.num_images_in_input) + + vla.eval() + + # Move model to device if not using quantization + if not cfg.load_in_8bit and not cfg.load_in_4bit: + vla = vla.to(DEVICE) + + # Load dataset stats for action normalization + _load_dataset_stats(vla, cfg.pretrained_checkpoint) + + return vla + + +def _apply_film_to_vla(vla: torch.nn.Module, cfg: Any) -> torch.nn.Module: + """ + Apply FiLM (Feature-wise Linear Modulation) to the VLA vision backbone. + + Args: + vla: The VLA model + cfg: Configuration object with model parameters + + Returns: + torch.nn.Module: VLA model with FiLM applied + """ + from peft import LoraConfig, get_peft_model + + # Apply LoRA configuration + lora_config = LoraConfig( + r=32, + lora_alpha=16, + lora_dropout=0.0, + target_modules="all-linear", + init_lora_weights="gaussian", + ) + vla = get_peft_model(vla, lora_config) + + # Create and apply FiLMed vision backbone + new_vision_backbone = FiLMedPrismaticVisionBackbone( + vision_backbone=vla.vision_backbone, llm_dim=vla.llm_dim, + ) + vla.model.vision_backbone = new_vision_backbone + + # Load vision backbone checkpoint + checkpoint_path = find_checkpoint_file(cfg.pretrained_checkpoint, "vision_backbone") + state_dict = torch.load(checkpoint_path, weights_only=True) + vla.model.vision_backbone.load_state_dict(state_dict) + + # Use the model component instead of wrapper and convert to bfloat16 + vla = vla.model + vla.vision_backbone = vla.vision_backbone.to(torch.bfloat16) + + return vla + + +def _load_dataset_stats(vla: torch.nn.Module, checkpoint_path: str) -> None: + """ + Load dataset statistics used during training for action normalization. + + Args: + vla: The VLA model + checkpoint_path: Path to the checkpoint directory + """ + if model_is_on_hf_hub(checkpoint_path): + # Download dataset stats directly from HF Hub + dataset_statistics_path = hf_hub_download( + repo_id=checkpoint_path, + filename="dataset_statistics.json", + ) + else: + dataset_statistics_path = os.path.join(checkpoint_path, "dataset_statistics.json") + if os.path.isfile(dataset_statistics_path): + with open(dataset_statistics_path, "r") as f: + norm_stats = json.load(f) + vla.norm_stats = norm_stats + else: + print( + "WARNING: No local dataset_statistics.json file found for current checkpoint.\n" + "You can ignore this if you are loading the base VLA (i.e. not fine-tuned) checkpoint." + "Otherwise, you may run into errors when trying to call `predict_action()` due to an absent `unnorm_key`." + ) + + +def get_processor(cfg: Any) -> AutoProcessor: + """ + Get the VLA model's Hugging Face processor. + + Args: + cfg: Configuration object with model parameters + + Returns: + AutoProcessor: The model's processor + """ + return AutoProcessor.from_pretrained(cfg.pretrained_checkpoint, trust_remote_code=False) + + +def get_proprio_projector(cfg: Any, llm_dim: int, proprio_dim: int) -> ProprioProjector: + """ + Get proprioception projector for the VLA model. + + Args: + cfg: Configuration object with model parameters + llm_dim: Dimension of the language model + proprio_dim: Dimension of proprioception data + + Returns: + ProprioProjector: The initialized proprio projector + """ + # Initialize projector and move to device + proprio_projector = ProprioProjector( + llm_dim=llm_dim, + proprio_dim=proprio_dim, + ).to(DEVICE) + proprio_projector = proprio_projector.to(torch.bfloat16).to(DEVICE) + proprio_projector.eval() + + # Find and load checkpoint (may be on Hugging Face Hub or stored locally) + if model_is_on_hf_hub(cfg.pretrained_checkpoint): + model_path_to_proprio_projector_name = { + "VLA-Adapter/LIBERO-Spatial-Pro": "proprio_projector--checkpoint.pt", + "VLA-Adapter/LIBERO-Object-Pro": "proprio_projector--checkpoint.pt", + "VLA-Adapter/LIBERO-Goal-Pro": "proprio_projector--checkpoint.pt", + "VLA-Adapter/LIBERO-Long-Pro": "proprio_projector--checkpoint.pt", + } + if cfg.pretrained_checkpoint not in model_path_to_proprio_projector_name.keys(): + raise ValueError("Unsupported HF Hub pretrained checkpoint found!") + # Download proprio projector directly from HF Hub + proprio_projector_path = hf_hub_download( + repo_id=cfg.pretrained_checkpoint, filename=model_path_to_proprio_projector_name[cfg.pretrained_checkpoint] + ) + state_dict = load_component_state_dict(proprio_projector_path) + proprio_projector.load_state_dict(state_dict) + else: + checkpoint_path = find_checkpoint_file(cfg.pretrained_checkpoint, "proprio_projector") + state_dict = load_component_state_dict(checkpoint_path) + proprio_projector.load_state_dict(state_dict) + + return proprio_projector + + +def get_noisy_action_projector(cfg: Any, llm_dim: int) -> NoisyActionProjector: + """ + Get noisy action projector for diffusion-based action prediction. + + Args: + cfg: Configuration object with model parameters + llm_dim: Dimension of the language model + + Returns: + NoisyActionProjector: The initialized noisy action projector + """ + # Initialize projector and move to device + noisy_action_projector = NoisyActionProjector( + llm_dim=llm_dim, + ).to(DEVICE) + noisy_action_projector = noisy_action_projector.to(torch.bfloat16).to(DEVICE) + noisy_action_projector.eval() + + # Find and load checkpoint + checkpoint_path = find_checkpoint_file(cfg.pretrained_checkpoint, "noisy_action_projector") + state_dict = load_component_state_dict(checkpoint_path) + noisy_action_projector.load_state_dict(state_dict) + + return noisy_action_projector + + +def get_action_head(cfg: Any, llm_dim: int) -> Union[L1RegressionActionHead]: + """ + Get action head for continuous value prediction. + + Args: + cfg: Configuration object with model parameters + llm_dim: Dimension of the language model + + Returns: + Union[L1RegressionActionHead, DiffusionActionHead]: The initialized action head + + Raises: + AssertionError: If both L1 regression and diffusion are specified + """ + # assert not cfg.use_l1_regression, "Cannot use both L1 regression and diffusion action head!" + if not hasattr(cfg, "use_pro_version"): + if "Pro" in cfg.pretrained_checkpoint or "Pro" in cfg.save_version: + cfg.use_pro_version = True + else: + cfg.use_pro_version = False + + # Initialize appropriate action head based on configuration + if cfg.use_l1_regression: + action_head = L1RegressionActionHead( + input_dim=llm_dim, + hidden_dim=llm_dim, + action_dim=ACTION_DIM, + use_pro_version=cfg.use_pro_version, + ) + + else: + raise ValueError("Either use_l1_regression or use_diffusion must be True") + + action_head = action_head.to(torch.bfloat16).to(DEVICE) + action_head.eval() + + # Find and load checkpoint (may be on Hugging Face Hub or stored locally) + if model_is_on_hf_hub(cfg.pretrained_checkpoint): + model_path_to_action_head_name = { + "VLA-Adapter/LIBERO-Spatial-Pro": "action_head--checkpoint.pt", + "VLA-Adapter/LIBERO-Object-Pro": "action_head--checkpoint.pt", + "VLA-Adapter/LIBERO-Goal-Pro": "action_head--checkpoint.pt", + "VLA-Adapter/LIBERO-Long-Pro": "action_head--checkpoint.pt", + } + if cfg.pretrained_checkpoint not in model_path_to_action_head_name.keys(): + raise ValueError("Unsupported HF Hub pretrained checkpoint found!") + # Download proprio projector directly from HF Hub + action_head_path = hf_hub_download( + repo_id=cfg.pretrained_checkpoint, filename=model_path_to_action_head_name[cfg.pretrained_checkpoint] + ) + state_dict = load_component_state_dict(action_head_path) + action_head.load_state_dict(state_dict) + else: + checkpoint_path = find_checkpoint_file(cfg.pretrained_checkpoint, "action_head") + state_dict = load_component_state_dict(checkpoint_path) + action_head.load_state_dict(state_dict) + + return action_head + + +def resize_image_for_policy(img: np.ndarray, resize_size: Union[int, Tuple[int, int]]) -> np.ndarray: + """ + Resize an image to match the policy's expected input size. + + Uses the same resizing scheme as in the training data pipeline for distribution matching. + + Args: + img: Numpy array containing the image + resize_size: Target size as int (square) or (height, width) tuple + + Returns: + np.ndarray: The resized image + """ + assert isinstance(resize_size, int) or isinstance(resize_size, tuple) + if isinstance(resize_size, int): + resize_size = (resize_size, resize_size) + + # Resize using the same pipeline as in RLDS dataset builder + img = tf.image.encode_jpeg(img) # Encode as JPEG + img = tf.io.decode_image(img, expand_animations=False, dtype=tf.uint8) # Decode back + img = tf.image.resize(img, resize_size, method="lanczos3", antialias=True) + img = tf.cast(tf.clip_by_value(tf.round(img), 0, 255), tf.uint8) + + return img.numpy() + + +def crop_and_resize(image: tf.Tensor, crop_scale: float, batch_size: int) -> tf.Tensor: + """ + Center-crop an image and resize it back to original dimensions. + + Uses the same logic as in the training data pipeline for distribution matching. + + Args: + image: TF Tensor of shape (batch_size, H, W, C) or (H, W, C) with values in [0,1] + crop_scale: Area of center crop relative to original image + batch_size: Batch size + + Returns: + tf.Tensor: The cropped and resized image + """ + # Handle 3D inputs by adding batch dimension if needed + assert image.shape.ndims in (3, 4), "Image must be 3D or 4D tensor" + expanded_dims = False + if image.shape.ndims == 3: + image = tf.expand_dims(image, axis=0) + expanded_dims = True + + # Calculate crop dimensions (note: we use sqrt(crop_scale) for h/w) + new_heights = tf.reshape(tf.clip_by_value(tf.sqrt(crop_scale), 0, 1), shape=(batch_size,)) + new_widths = tf.reshape(tf.clip_by_value(tf.sqrt(crop_scale), 0, 1), shape=(batch_size,)) + + # Create bounding box for the crop + height_offsets = (1 - new_heights) / 2 + width_offsets = (1 - new_widths) / 2 + bounding_boxes = tf.stack( + [ + height_offsets, + width_offsets, + height_offsets + new_heights, + width_offsets + new_widths, + ], + axis=1, + ) + + # Apply crop and resize + image = tf.image.crop_and_resize( + image, bounding_boxes, tf.range(batch_size), (OPENVLA_IMAGE_SIZE, OPENVLA_IMAGE_SIZE) + ) + + # Remove batch dimension if it was added + if expanded_dims: + image = image[0] + + return image + + +def center_crop_image(image: Union[np.ndarray, Image.Image]) -> Image.Image: + """ + Center crop an image to match training data distribution. + + Args: + image: Input image (PIL or numpy array) + + Returns: + Image.Image: Cropped PIL Image + """ + batch_size = 1 + crop_scale = 0.9 + + # Convert to TF Tensor if needed + if not isinstance(image, tf.Tensor): + image = tf.convert_to_tensor(np.array(image)) + + orig_dtype = image.dtype + + # Convert to float32 in range [0,1] + image = tf.image.convert_image_dtype(image, tf.float32) + + # Apply center crop and resize + image = crop_and_resize(image, crop_scale, batch_size) + + # Convert back to original data type + image = tf.clip_by_value(image, 0, 1) + image = tf.image.convert_image_dtype(image, orig_dtype, saturate=True) + + # Convert to PIL Image + return Image.fromarray(image.numpy()).convert("RGB") + + +def check_image_format(image: Any) -> None: + """ + Validate input image format. + + Args: + image: Image to check + + Raises: + AssertionError: If image format is invalid + """ + is_numpy_array = isinstance(image, np.ndarray) + has_correct_shape = len(image.shape) == 3 and image.shape[-1] == 3 + has_correct_dtype = image.dtype == np.uint8 + + assert is_numpy_array and has_correct_shape and has_correct_dtype, ( + "Incorrect image format detected! Make sure that the input image is a " + "numpy array with shape (H, W, 3) and dtype np.uint8!" + ) + + +def normalize_proprio(proprio: np.ndarray, norm_stats: Dict[str, Any]) -> np.ndarray: + """ + Normalize proprioception data to match training distribution. + + Args: + proprio: Raw proprioception data + norm_stats: Normalization statistics + + Returns: + np.ndarray: Normalized proprioception data + """ + if ACTION_PROPRIO_NORMALIZATION_TYPE == NormalizationType.BOUNDS: + mask = norm_stats.get("mask", np.ones_like(norm_stats["min"], dtype=bool)) + proprio_high, proprio_low = np.array(norm_stats["max"]), np.array(norm_stats["min"]) + elif ACTION_PROPRIO_NORMALIZATION_TYPE == NormalizationType.BOUNDS_Q99: + mask = norm_stats.get("mask", np.ones_like(norm_stats["q01"], dtype=bool)) + proprio_high, proprio_low = np.array(norm_stats["q99"]), np.array(norm_stats["q01"]) + else: + raise ValueError("Unsupported action/proprio normalization type detected!") + + normalized_proprio = np.clip( + np.where( + mask, + 2 * (proprio - proprio_low) / (proprio_high - proprio_low + 1e-8) - 1, + proprio, + ), + a_min=-1.0, + a_max=1.0, + ) + + return normalized_proprio + + +def prepare_images_for_vla(images: List[np.ndarray], cfg: Any) -> List[Image.Image]: + """ + Prepare images for VLA input by resizing and cropping as needed. + + Args: + images: List of input images as numpy arrays + cfg: Configuration object with parameters + + Returns: + List[Image.Image]: Processed images ready for the model + """ + processed_images = [] + + for image in images: + # Validate format + check_image_format(image) + + # Resize if needed + if image.shape != (OPENVLA_IMAGE_SIZE, OPENVLA_IMAGE_SIZE, 3): + image = resize_image_for_policy(image, OPENVLA_IMAGE_SIZE) + + # Convert to PIL image + pil_image = Image.fromarray(image).convert("RGB") + + # Apply center crop if configured + if cfg.center_crop: + pil_image = center_crop_image(pil_image) + + processed_images.append(pil_image) + + return processed_images + + +def get_vla_action( + cfg: Any, + vla: torch.nn.Module, + processor: Any, + obs: Dict[str, Any], + task_label: str, + action_head: Optional[torch.nn.Module] = None, + proprio_projector: Optional[torch.nn.Module] = None, + noisy_action_projector: Optional[torch.nn.Module] = None, + use_film: bool = False, + use_minivlm: bool = False, +) -> List[np.ndarray]: + """ + Generate action predictions with the VLA policy. + + Args: + cfg: Configuration object with parameters + vla: The VLA model + processor: Model processor for inputs + obs: Observation dictionary + task_label: Text description of the task + action_head: Optional action head for continuous actions + proprio_projector: Optional proprioception projector + noisy_action_projector: Optional noisy action projector for diffusion + use_film: Whether to use FiLM + + Returns: + List[np.ndarray]: Predicted actions + """ + with torch.inference_mode(): + + # Collect all input images + all_images = [obs["full_image"]] + if cfg.num_images_in_input > 1: + all_images.extend([obs[k] for k in obs.keys() if "wrist" in k]) + + # Process images + all_images = prepare_images_for_vla(all_images, cfg) + + # Extract primary image and additional images + primary_image = all_images.pop(0) + + # Build VLA prompt + if not use_minivlm: + prompt = f"In: What action should the robot take to {task_label.lower()}?\nOut:" + else: + prompt = f'<|im_start|>system\nYou are Qwen, created by Alibaba Cloud. You are a helpful assistant.<|im_end|>\n<|im_start|>user\nWhat action should the robot take to {task_label.lower()}?<|im_end|>\n<|im_start|>assistant\n' + + # Process primary image + inputs = processor(prompt, primary_image).to(DEVICE, dtype=torch.bfloat16) + + # Process additional wrist images if any + if all_images: + all_wrist_inputs = [ + processor(prompt, image_wrist).to(DEVICE, dtype=torch.bfloat16) for image_wrist in all_images + ] + # Concatenate all images + primary_pixel_values = inputs["pixel_values"] + all_wrist_pixel_values = [wrist_inputs["pixel_values"] for wrist_inputs in all_wrist_inputs] + inputs["pixel_values"] = torch.cat([primary_pixel_values] + all_wrist_pixel_values, dim=1) + + # Process proprioception data if used + proprio = None + if cfg.use_proprio: + proprio = obs["state"] + proprio_norm_stats = vla.norm_stats[cfg.unnorm_key]["proprio"] + obs["state"] = normalize_proprio(proprio, proprio_norm_stats) + proprio = obs["state"] + + + # Generate action + if action_head is None: + # Standard VLA output (single-image inputs, discrete actions) + action, _ = vla.predict_action(**inputs, unnorm_key=cfg.unnorm_key, do_sample=False) + else: + # Custom action head for continuous actions + action, _ = vla.predict_action( + **inputs, + unnorm_key=cfg.unnorm_key, + do_sample=False, + proprio=proprio, + proprio_projector=proprio_projector, + noisy_action_projector=noisy_action_projector, + action_head=action_head, + use_film=use_film, + ) + + # Extract subset of actions for open loop steps + return [action[i] for i in range(min(len(action), cfg.num_open_loop_steps))] + + +def get_action_from_server( + observation: Dict[str, Any], server_endpoint: str = "http://0.0.0.0:8777/act" +) -> Dict[str, Any]: + """ + Get VLA action from remote inference server. + + Args: + observation: Observation data to send to server + server_endpoint: URL of the inference server + + Returns: + Dict[str, Any]: Action response from server + """ + response = requests.post( + server_endpoint, + json=observation, + ) + return response.json() diff --git a/VLA-Adapter-UAV/experiments/robot/robot_utils.py b/VLA-Adapter-UAV/experiments/robot/robot_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..f294dd8d12f8d1c3e36158210f2489a9b4c634fe --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/robot_utils.py @@ -0,0 +1,279 @@ +"""Utils for evaluating robot policies in various environments.""" + +import os +import random +import time +from typing import Any, Dict, List, Optional, Union + +import numpy as np +import torch + +from experiments.robot.openvla_utils import ( + get_vla, + get_vla_action, +) + +# Initialize important constants +ACTION_DIM = 7 +DATE = time.strftime("%Y_%m_%d") +DATE_TIME = time.strftime("%Y_%m_%d-%H_%M_%S") +DEVICE = torch.device("cuda:0") if torch.cuda.is_available() else torch.device("cpu") + +# Configure NumPy print settings +np.set_printoptions(formatter={"float": lambda x: "{0:0.8f}".format(x)}) + +# Initialize system prompt for OpenVLA v0.1 +OPENVLA_V01_SYSTEM_PROMPT = ( + "A chat between a curious user and an artificial intelligence assistant. " + "The assistant gives helpful, detailed, and polite answers to the user's questions." +) + +# Model image size configuration +MODEL_IMAGE_SIZES = { + "openvla": 224, + # Add other models as needed +} + + +def set_seed_everywhere(seed: int) -> None: + """ + Set random seed for all random number generators for reproducibility. + + Args: + seed: The random seed to use + """ + torch.manual_seed(seed) + torch.cuda.manual_seed_all(seed) + np.random.seed(seed) + random.seed(seed) + torch.backends.cudnn.deterministic = True + torch.backends.cudnn.benchmark = False + os.environ["PYTHONHASHSEED"] = str(seed) + + +def get_model(cfg: Any, wrap_diffusion_policy_for_droid: bool = False) -> torch.nn.Module: + """ + Load and initialize model for evaluation based on configuration. + + Args: + cfg: Configuration object with model parameters + wrap_diffusion_policy_for_droid: Whether to wrap diffusion policy for DROID + + Returns: + torch.nn.Module: The loaded model + + Raises: + ValueError: If model family is not supported + """ + if cfg.model_family == "openvla": + model = get_vla(cfg) + else: + raise ValueError(f"Unsupported model family: {cfg.model_family}") + + print(f"Loaded model: {type(model)}") + return model + + +def get_image_resize_size(cfg: Any) -> Union[int, tuple]: + """ + Get image resize dimensions for a specific model. + + If returned value is an int, the resized image will be a square. + If returned value is a tuple, the resized image will be a rectangle. + + Args: + cfg: Configuration object with model parameters + + Returns: + Union[int, tuple]: Image resize dimensions + + Raises: + ValueError: If model family is not supported + """ + if cfg.model_family not in MODEL_IMAGE_SIZES: + raise ValueError(f"Unsupported model family: {cfg.model_family}") + + return MODEL_IMAGE_SIZES[cfg.model_family] + + +def get_action( + cfg: Any, + model: torch.nn.Module, + obs: Dict[str, Any], + task_label: str, + processor: Optional[Any] = None, + action_head: Optional[torch.nn.Module] = None, + proprio_projector: Optional[torch.nn.Module] = None, + noisy_action_projector: Optional[torch.nn.Module] = None, + use_film: bool = False, + use_minivlm: bool = False, +) -> Union[List[np.ndarray], np.ndarray]: + """ + Query the model to get action predictions. + + Args: + cfg: Configuration object with model parameters + model: The loaded model + obs: Observation dictionary + task_label: Text description of the task + processor: Model processor for inputs + action_head: Optional action head for continuous actions + proprio_projector: Optional proprioception projector + noisy_action_projector: Optional noisy action projector for diffusion + use_film: Whether to use FiLM + + Returns: + Union[List[np.ndarray], np.ndarray]: Predicted actions + + Raises: + ValueError: If model family is not supported + """ + with torch.no_grad(): + if cfg.model_family == "openvla": + action = get_vla_action( + cfg=cfg, + vla=model, + processor=processor, + obs=obs, + task_label=task_label, + action_head=action_head, + proprio_projector=proprio_projector, + noisy_action_projector=noisy_action_projector, + use_film=use_film, + use_minivlm=use_minivlm + ) + else: + raise ValueError(f"Unsupported model family: {cfg.model_family}") + + return action + + +def normalize_gripper_action(action: np.ndarray, binarize: bool = True) -> np.ndarray: + """ + Normalize gripper action from [0,1] to [-1,+1] range. + + This is necessary for some environments because the dataset wrapper + standardizes gripper actions to [0,1]. Note that unlike the other action + dimensions, the gripper action is not normalized to [-1,+1] by default. + + Normalization formula: y = 2 * (x - orig_low) / (orig_high - orig_low) - 1 + + Args: + action: Action array with gripper action in the last dimension + binarize: Whether to binarize gripper action to -1 or +1 + + Returns: + np.ndarray: Action array with normalized gripper action + """ + # Create a copy to avoid modifying the original + normalized_action = action.copy() + + # Normalize the last action dimension to [-1,+1] + orig_low, orig_high = 0.0, 1.0 + normalized_action[..., -1] = 2 * (normalized_action[..., -1] - orig_low) / (orig_high - orig_low) - 1 + + if binarize: + # Binarize to -1 or +1 + normalized_action[..., -1] = np.sign(normalized_action[..., -1]) + + return normalized_action + + +def invert_gripper_action(action: np.ndarray) -> np.ndarray: + """ + Flip the sign of the gripper action (last dimension of action vector). + + This is necessary for environments where -1 = open, +1 = close, since + the RLDS dataloader aligns gripper actions such that 0 = close, 1 = open. + + Args: + action: Action array with gripper action in the last dimension + + Returns: + np.ndarray: Action array with inverted gripper action + """ + # Create a copy to avoid modifying the original + inverted_action = action.copy() + + # Invert the gripper action + inverted_action[..., -1] *= -1.0 + + return inverted_action + + +# -------- Msgpack for VLA: Start ---------- + +import msgpack +import msgpack_numpy +from requests.adapters import HTTPAdapter +from urllib3.util.retry import Retry +import requests +import logging +# Set up logging +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s [%(levelname)s] %(message)s", + handlers=[logging.StreamHandler()], +) +logger = logging.getLogger(__name__) + +class MsgPackHttpClientPolicy: + """A client policy for communicating with a VLA server using MessagePack.""" + + def __init__(self, host: str, port: int=None): + """ + Initializes the client. + + Args: + host (str): The server host address. + port (int): The server port. + """ + protocol = "https" if "nat-notebook-inspire" in host or "ngrok" in host else "http" + if host.startswith("http"): + base_url = host + else: + base_url = f"{protocol}://{host}:{port}" + + self.infer_url = f"{base_url.rstrip('/')}/act" + self.session = requests.Session() + # Robust retries for occasional connection resets from server + retries = Retry( + total=3, + connect=3, + read=3, + backoff_factor=0.2, + status_forcelist=(502, 503, 504), + raise_on_status=False, + allowed_methods=frozenset(["POST", "GET"]), + ) + adapter = HTTPAdapter(max_retries=retries) + self.session.mount("http://", adapter) + self.session.mount("https://", adapter) + self.session.headers.update({"Content-Type": "application/msgpack"}) + print(f"Standalone MsgPack HTTP Client configured for: {self.infer_url}") + + def infer(self, observation: Dict[str, Any], **kwargs) -> Dict[str, Any]: + """ + Sends an observation to the server and returns the predicted action. + + Args: + observation (Dict[str, Any]): The observation dictionary. + + Returns: + Dict[str, Any]: The action dictionary from the server. + """ + packed_observation = msgpack.packb(observation, default=msgpack_numpy.encode, use_bin_type=True) + try: + response = self.session.post(self.infer_url, data=packed_observation, timeout=30) + response.raise_for_status() + return msgpack.unpackb(response.content, object_hook=msgpack_numpy.decode, raw=False) + except requests.exceptions.RequestException as e: + logger.error(f"Inference request failed: {e}") + # Propagate exception to let the main loop handle it + raise e + except msgpack.UnpackException as e: + logger.error(f"Failed to unpack server response: {e}") + raise e + + +# -------- Msgpack for VLA: End ---------- \ No newline at end of file diff --git a/VLA-Adapter-UAV/experiments/robot/server_deploy/deploy.py b/VLA-Adapter-UAV/experiments/robot/server_deploy/deploy.py new file mode 100644 index 0000000000000000000000000000000000000000..322fe87b609d09ba77fec8684164e49a3499f128 --- /dev/null +++ b/VLA-Adapter-UAV/experiments/robot/server_deploy/deploy.py @@ -0,0 +1,226 @@ +""" +deploy.py + +Starts VLA server which the client can query to get robot actions. +""" +import logging +import traceback +from dataclasses import dataclass, field +from pathlib import Path +from typing import Any, Dict, Union +import time +import sys + +import draccus +import msgpack +import torch +import uvicorn +import numpy as np +from fastapi import FastAPI, HTTPException, Request, Response +from PIL import Image +import msgpack_numpy + + +# Append project root to sys.path +sys.path.append("../..") + +from experiments.robot.openvla_utils import ( + get_action_head, + get_processor, + get_proprio_projector, +) +from experiments.robot.robot_utils import ( + get_action, + get_image_resize_size, + get_model, + set_seed_everywhere, +) + + +# Set up logging to display timestamp, level, and message +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s.%(msecs)03d [%(levelname)s] %(message)s", + datefmt="%Y-%m-%d %H:%M:%S", + handlers=[logging.StreamHandler()], +) + + +@dataclass +class DeployConfig: + # fmt: off + + # Server Configuration + host: str = "0.0.0.0" # Host IP Address + port: int = 8000 # Host Port + device: str = "cuda:0" # Device to run model on + + ################################################################################################################# + # Model-specific parameters + ################################################################################################################# + model_family: str = "openvla" # Model family + pretrained_checkpoint: Union[str, Path] = "" # Pretrained checkpoint path + use_l1_regression: bool = True # If True, uses continuous action head with L1 regression objective + use_minivlm: bool = True # If True, uses minivlm + num_diffusion_steps: int = 50 # (When `diffusion==True`) Number of diffusion steps for inference + use_film: bool = False # If True, uses FiLM to infuse language inputs into visual features + num_images_in_input: int = 3 # Number of images in the VLA input (default: 1) + use_proprio: bool = True # Whether to include proprio state in input + + center_crop: bool = True # Center crop? (if trained w/ random crop image aug) + num_open_loop_steps: int = 25 # Number of actions to execute open-loop before requerying policy + unnorm_key: Union[str, Path] = "" # Action un-normalization key + + load_in_8bit: bool = False # (For OpenVLA only) Load with 8-bit quantization + load_in_4bit: bool = False # (For OpenVLA only) Load with 4-bit quantization + + ################################################################################################################# + # LIBERO environment-specific parameters + ################################################################################################################# + num_steps_wait: int = 10 # Number of steps to wait for objects to stabilize in sim + num_trials_per_task: int = 50 # Number of rollouts per task + initial_states_path: str = "DEFAULT" # "DEFAULT", or path to initial states JSON file + env_img_res: int = 256 # Resolution for environment images (not policy input resolution) + + ################################################################################################################# + # Utils + ################################################################################################################# + + use_wandb: bool = False # Whether to also log results in Weights & Biases + wandb_entity: str = "your-wandb-entity" # Name of WandB entity + wandb_project: str = "your-wandb-project" # Name of WandB project + + seed: int = 42 # Random Seed (for reproducibility) + + # fmt: on + save_version: str = "vla-adapter" # version of + phase: str = "Inference" + use_pro_version: bool = True + + + +def initialize_model(cfg: DeployConfig): + """Initialize model and associated components.""" + # Load model + model = get_model(cfg) + model.set_version(cfg.save_version) + + # Get number of vision patches + NUM_PATCHES = model.vision_backbone.get_num_patches() * model.vision_backbone.get_num_images_in_input() + # If we have proprio inputs, a single proprio embedding is appended to the end of the vision patch embeddings + if cfg.use_proprio: + NUM_PATCHES += 1 + cfg.num_task_tokens=NUM_PATCHES + + # Load proprio projector if needed + proprio_projector = None + if cfg.use_proprio: + proprio_projector = get_proprio_projector( + cfg, + model.llm_dim, + proprio_dim=14, # 14-dimensional proprio for aloha + ) + + # Load action head if needed + action_head = None + if cfg.use_l1_regression: + action_head = get_action_head(cfg, model.llm_dim) + + # Get OpenVLA processor + processor = get_processor(cfg) + + + return model, processor, action_head, proprio_projector + + +class MsgPackResponse(Response): + """Custom FastAPI Response class to automatically encode response data into MessagePack.""" + + media_type = "application/msgpack" + + def render(self, content: Any) -> bytes: + return msgpack.packb(content, default=msgpack_numpy.encode, use_bin_type=True) + + +# === Server Interface === +class VLAServer: + def __init__(self, cfg: DeployConfig): + """ + A simple server for VLA models, exposing `/act` endpoint. + This server receives observations and instructions via MessagePack, + and returns predicted actions in MessagePack format. + """ + self.cfg = cfg + ( + self.model, + self.processor, + self.action_head, + self.proprio_projector, + ) = initialize_model(cfg) + self.resize_size = get_image_resize_size(cfg) + set_seed_everywhere(self.cfg.seed) + self.app = FastAPI() + + @self.app.middleware("http") + async def log_requests(request: Request, call_next): + """ + Middleware to log request details including processing time. + """ + start_time = time.time() + response = await call_next(request) + process_time = (time.time() - start_time) * 1000 # in milliseconds + logging.info(f'"{request.method} {request.url.path}" {response.status_code} - {process_time:.2f}ms') + return response + + self.app.post("/act", response_class=MsgPackResponse)(self.get_server_action) + + async def get_server_action(self, request: Request) -> Dict[str, Any]: + """Handles a single action prediction request using MessagePack.""" + if request.headers.get("content-type") != "application/msgpack": + raise HTTPException( + status_code=415, detail="Unsupported Media Type. 'application/msgpack' is required." + ) + try: + body = await request.body() + batch = msgpack.unpackb(body, object_hook=msgpack_numpy.decode, raw=False) + + # Extract unnorm_key and instruction from the batch + unnorm_key = batch.pop("unnorm_key") + instruction = batch.pop("instruction") + + # Update cfg with the unnorm_key from the client + self.cfg.unnorm_key = unnorm_key + + # Use get_action to get model's prediction + actions = get_action( + self.cfg, + self.model, + batch, + instruction, + processor=self.processor, + action_head=self.action_head, + proprio_projector=self.proprio_projector, + ) + + return {"actions": np.array(actions).tolist()} + + except msgpack.UnpackException: + raise HTTPException(status_code=400, detail="Invalid MessagePack data provided.") + except Exception: + logging.error(traceback.format_exc()) + # Re-raise as a generic 500 error to avoid leaking implementation details. + raise HTTPException(status_code=500, detail="An internal server error occurred.") + + def run(self) -> None: + """Starts the Uvicorn server.""" + uvicorn.run(self.app, host=self.cfg.host, port=self.cfg.port, access_log=False, timeout_keep_alive=120) + + +@draccus.wrap() +def deploy(cfg: DeployConfig) -> None: + server = VLAServer(cfg) + server.run() + + +if __name__ == "__main__": + deploy() diff --git a/VLA-Adapter-UAV/prismatic/__init__.py b/VLA-Adapter-UAV/prismatic/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..fad1d6a59fcb09f71bf70a2a9f3b890f8476c18f --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/__init__.py @@ -0,0 +1 @@ +from .models import available_model_names, available_models, get_model_description, load diff --git a/VLA-Adapter-UAV/prismatic/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..54aee08660818dd3c68aa3a3ffd793da3da82662 Binary files /dev/null and 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0000000000000000000000000000000000000000..0a81fb75e0a569608e9c2812ab2d93154ef8e600 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/conf/__pycache__/vla.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/conf/datasets.py b/VLA-Adapter-UAV/prismatic/conf/datasets.py new file mode 100644 index 0000000000000000000000000000000000000000..897ab3092e232321628f284a5e1926db21feb2bf --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/conf/datasets.py @@ -0,0 +1,133 @@ +""" +datasets.py + +Draccus Dataclass Definition for a DatasetConfig object, with various registered subclasses for each dataset variant +and processing scheme. A given dataset variant (e.g., `llava-lightning`) configures the following attributes: + - Dataset Variant (Identifier) --> e.g., "llava-v15" + - Align Stage Dataset Components (annotations, images) + - Finetune Stage Dataset Components (annotations, images) + - Dataset Root Directory (Path) +""" + +from dataclasses import dataclass +from enum import Enum, unique +from pathlib import Path +from typing import Tuple + +from draccus import ChoiceRegistry + + +@dataclass +class DatasetConfig(ChoiceRegistry): + # fmt: off + dataset_id: str # Unique ID that fully specifies a dataset variant + + # Dataset Components for each Stage in < align | finetune > + align_stage_components: Tuple[Path, Path] # Path to annotation file and images directory for `align` stage + finetune_stage_components: Tuple[Path, Path] # Path to annotation file and images directory for `finetune` stage + + dataset_root_dir: Path # Path to dataset root directory; others paths are relative to root + # fmt: on + + +# [Reproduction] LLaVa-v15 (exact dataset used in all public LLaVa-v15 models) +@dataclass +class LLaVa_V15_Config(DatasetConfig): + dataset_id: str = "llava-v15" + + align_stage_components: Tuple[Path, Path] = ( + Path("download/llava-laion-cc-sbu-558k/chat.json"), + Path("download/llava-laion-cc-sbu-558k/"), + ) + finetune_stage_components: Tuple[Path, Path] = ( + Path("download/llava-v1.5-instruct/llava_v1_5_mix665k.json"), + Path("download/llava-v1.5-instruct/"), + ) + dataset_root_dir: Path = Path("/mnt/fsx/skaramcheti/datasets/prismatic-vlms") + + +# [Multimodal-Only] LLava-v15 WITHOUT the Language-Only ShareGPT Data (No Co-Training) +@dataclass +class LLaVa_Multimodal_Only_Config(DatasetConfig): + dataset_id: str = "llava-multimodal" + + align_stage_components: Tuple[Path, Path] = ( + Path("download/llava-laion-cc-sbu-558k/chat.json"), + Path("download/llava-laion-cc-sbu-558k/"), + ) + finetune_stage_components: Tuple[Path, Path] = ( + Path("download/llava-v1.5-instruct/llava_v1_5_stripped625k.json"), + Path("download/llava-v1.5-instruct/"), + ) + dataset_root_dir: Path = Path("/mnt/fsx/skaramcheti/datasets/prismatic-vlms") + + +# LLaVa-v15 + LVIS-Instruct-4V +@dataclass +class LLaVa_LVIS4V_Config(DatasetConfig): + dataset_id: str = "llava-lvis4v" + + align_stage_components: Tuple[Path, Path] = ( + Path("download/llava-laion-cc-sbu-558k/chat.json"), + Path("download/llava-laion-cc-sbu-558k/"), + ) + finetune_stage_components: Tuple[Path, Path] = ( + Path("download/llava-v1.5-instruct/llava_v1_5_lvis4v_mix888k.json"), + Path("download/llava-v1.5-instruct/"), + ) + dataset_root_dir: Path = Path("/mnt/fsx/skaramcheti/datasets/prismatic-vlms") + + +# LLaVa-v15 + LRV-Instruct +@dataclass +class LLaVa_LRV_Config(DatasetConfig): + dataset_id: str = "llava-lrv" + + align_stage_components: Tuple[Path, Path] = ( + Path("download/llava-laion-cc-sbu-558k/chat.json"), + Path("download/llava-laion-cc-sbu-558k/"), + ) + finetune_stage_components: Tuple[Path, Path] = ( + Path("download/llava-v1.5-instruct/llava_v1_5_lrv_mix1008k.json"), + Path("download/llava-v1.5-instruct/"), + ) + dataset_root_dir: Path = Path("/mnt/fsx/skaramcheti/datasets/prismatic-vlms") + + +# LLaVa-v15 + LVIS-Instruct-4V + LRV-Instruct +@dataclass +class LLaVa_LVIS4V_LRV_Config(DatasetConfig): + dataset_id: str = "llava-lvis4v-lrv" + + align_stage_components: Tuple[Path, Path] = ( + Path("download/llava-laion-cc-sbu-558k/chat.json"), + Path("download/llava-laion-cc-sbu-558k/"), + ) + finetune_stage_components: Tuple[Path, Path] = ( + Path("download/llava-v1.5-instruct/llava_v1_5_lvis4v_lrv_mix1231k.json"), + Path("download/llava-v1.5-instruct/"), + ) + dataset_root_dir: Path = Path("/mnt/fsx/skaramcheti/datasets/prismatic-vlms") + + +# === Define a Dataset Registry Enum for Reference & Validation =>> all *new* datasets must be added here! === +@unique +class DatasetRegistry(Enum): + # === LLaVa v1.5 === + LLAVA_V15 = LLaVa_V15_Config + + LLAVA_MULTIMODAL_ONLY = LLaVa_Multimodal_Only_Config + + LLAVA_LVIS4V = LLaVa_LVIS4V_Config + LLAVA_LRV = LLaVa_LRV_Config + + LLAVA_LVIS4V_LRV = LLaVa_LVIS4V_LRV_Config + + @property + def dataset_id(self) -> str: + return self.value.dataset_id + + +# Register Datasets in Choice Registry +for dataset_variant in DatasetRegistry: + DatasetConfig.register_subclass(dataset_variant.dataset_id, dataset_variant.value) diff --git a/VLA-Adapter-UAV/prismatic/conf/models.py b/VLA-Adapter-UAV/prismatic/conf/models.py new file mode 100644 index 0000000000000000000000000000000000000000..1e4d4b35bf497816e62b34f915ef73d1125c0649 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/conf/models.py @@ -0,0 +1,614 @@ +""" +models.py + +Draccus Dataclass Definition for a ModelConfig object, with various registered subclasses for each model family and +variant thereof. A given model variant configures the following attributes: + - Pretrained Visual Representation (e.g., OpenAI CLIP ViT-L/14) + Pretrained LLM Backbone (e.g., LLaMa-2 7B) + - VLM Configuration + Parameters (e.g., MLP Projector, Image Preprocessing, etc.) + - [Optional] Stage 1 (`align`) Optimization Hyperparameters + - Stage 2 (`finetune`) Optimization Hyperparameters +""" + +from dataclasses import dataclass +from enum import Enum, unique +from typing import Optional + +from draccus import ChoiceRegistry + + +@dataclass +class ModelConfig(ChoiceRegistry): + # fmt: off + model_id: str # Unique Model ID that fully specifies a given variant + arch_specifier: str # Architecture specifier string (e.g., "gelu-mlp") + + # Pretrained Backbones + vision_backbone_id: str # Pretrained Visual Featurizer (from TIMM) to load + llm_backbone_id: str # Pretrained LLM (from HF Transformers) to load + + # Backbone Parameters + image_resize_strategy: str # Resizing strategy in < crop | letterbox | corner-pad > + llm_max_length: int # Maximum context length for LLM (can be < than max!) + image_sequence_len: int # Sequence length to use for the vision backbone + + # === Multi-Stage Optimization Hyperparameters === + # By default, we assume an AdamW optimizer with FSDP (Gradient Sharding or Full Sharding depending on stage) + + # Align Stage Optimization Parameters + align_epochs: int # Epochs to Run (in case `max_steps` is not specified) + align_max_steps: Optional[int] # [Optional] Max Gradient Steps (overrides epochs) + align_save_every_n_steps: Optional[int] + align_global_batch_size: int # Global Batch Size (divided across processes) + align_per_device_batch_size: int # Per-Device Batch Size (per-process) + # => # of accumulation steps is auto-computed + + align_learning_rate: float # Peak Learning Rate (lr_scheduler sets warmup/decay) + align_weight_decay: float # Weight Decay for AdamW Optimizer + align_max_grad_norm: float # Max Grad Norm (for global gradient clipping) + align_lr_scheduler_type: str # LR Scheduler (default: "linear-warmup+cosine-decay") + align_warmup_ratio: float # Fraction of total steps to warmup + + align_train_strategy: str # Align Train Strategy (default: "fsdp-shard-grad-op") + + # Finetune Stage Optimization Parameters + finetune_epochs: int # Epochs to Run (in case `max_steps` is not specified) + finetune_max_steps: Optional[int] # [Optional] Max Gradient Steps (overrides epochs) + finetune_save_every_n_steps: Optional[int] + finetune_global_batch_size: int # Global Batch Size (divided across processes) + finetune_per_device_batch_size: int # Per-Device Batch Size (per-process) + # => # of accumulation steps is auto-computed + + finetune_learning_rate: float # Peak Learning Rate (lr_scheduler sets warmup/decay) + finetune_weight_decay: float # Weight Decay for AdamW Optimizer + finetune_max_grad_norm: float # Max Grad Norm (for global gradient clipping) + finetune_lr_scheduler_type: str # LR Scheduler (default: "linear-warmup+cosine-decay") + finetune_warmup_ratio: float # Fraction of total steps to warmup + + finetune_train_strategy: str # Finetune Train Strategy (default: "fsdp-full-shard") + + # Enable Gradient/Activation Checkpointing (for the LLM Backbone) + enable_gradient_checkpointing: bool = True + + # Enable Traditional Mixed Precision Training via Torch Native AMP (`autocast`) + enable_mixed_precision_training: bool = True # Whether to enable mixed precision training + reduce_in_full_precision: bool = False # Whether to run gradient reduction in FP32 + + # fmt: on + + +# === LLaVa v1.5 Reproduction - Fully Specified Configurations === +@dataclass +class LLaVa_v15_Reproduction_7B(ModelConfig): + model_id: str = "reproduction-llava-v15+7b" + arch_specifier: str = "gelu-mlp" + + vision_backbone_id: str = "clip-vit-l-336px" + llm_backbone_id: str = "vicuna-v15-7b" + + image_resize_strategy: str = "letterbox" + llm_max_length: int = 2048 + image_sequence_len: int = 1 + + # Align Stage Optimization Parameters + align_epochs: int = 1 + align_max_steps: Optional[int] = None + align_save_every_n_steps: int = 10000 + align_global_batch_size: int = 96 + align_per_device_batch_size: int = 16 + + align_learning_rate: float = 1e-3 + align_weight_decay: float = 0.0 + align_max_grad_norm: float = 1.0 + align_lr_scheduler_type: str = "linear-warmup+cosine-decay" + align_warmup_ratio: float = 0.03 + + align_train_strategy: str = "fsdp-shard-grad-op" + + # Finetune Stage Optimization Parameters + finetune_epochs: int = 1 + finetune_max_steps: Optional[int] = None + finetune_save_every_n_steps: int = 10000 + finetune_global_batch_size: int = 128 + finetune_per_device_batch_size: int = 16 + + finetune_learning_rate: float = 2e-5 + finetune_weight_decay: float = 0.1 + finetune_max_grad_norm: float = 1.0 + finetune_lr_scheduler_type: str = "linear-warmup+cosine-decay" + finetune_warmup_ratio: float = 0.03 + + finetune_train_strategy: str = "fsdp-full-shard" + + +@dataclass +class LLaVa_v15_Reproduction_13B(LLaVa_v15_Reproduction_7B): + model_id: str = "reproduction-llava-v15+13b" + llm_backbone_id: str = "vicuna-v15-13b" + + +# === Section 4.1 :: Optimization Procedure === + + +# Section 4.1A :: 🚀 --> Necessity of Multi-Stage Training +@dataclass +class Exp_7B_One_Stage(LLaVa_v15_Reproduction_7B): + model_id: str = "one-stage+7b" + arch_specifier: str = "no-align+gelu-mlp" + + +@dataclass +class Exp_13B_One_Stage(LLaVa_v15_Reproduction_13B): + model_id: str = "one-stage+13b" + arch_specifier: str = "no-align+gelu-mlp" + + +# Section 4.1B :: 🛠️ --> Full Finetuning through Visual Backbones +# =>> Note :: Run with `--stage full-finetune` +@dataclass +class Exp_7B_Full_Finetune_Multi_Stage(LLaVa_v15_Reproduction_7B): + model_id: str = "full-ft-multi-stage+7b" + + +@dataclass +class Exp_7B_Full_Finetune_One_Stage(Exp_7B_One_Stage): + model_id: str = "full-ft-one-stage+7b" + + +# === Section 4.2 :: Image Processing and Visual Representations === + + +# Section 4.2A :: 📸 --> Choosing a Pretrained Representation +@dataclass +class Exp_7B_IN1K_ViT_L_p16_224px(Exp_7B_One_Stage): + model_id: str = "in1k-224px+7b" + vision_backbone_id: str = "in1k-vit-l" + + +@dataclass +class Exp_7B_DINOv2_ViT_L_p14_224px(Exp_7B_One_Stage): + model_id: str = "dinov2-224px+7b" + vision_backbone_id: str = "dinov2-vit-l" + + +@dataclass +class Exp_7B_CLIP_ViT_L_p14_224px(Exp_7B_One_Stage): + model_id: str = "clip-224px+7b" + vision_backbone_id: str = "clip-vit-l" + + +@dataclass +class Exp_7B_SigLIP_ViT_SO_p14_224px(Exp_7B_One_Stage): + model_id: str = "siglip-224px+7b" + vision_backbone_id: str = "siglip-vit-so400m" + + +# Section 4.2B :: 📐 --> Choosing an Image Preprocessing Strategy +@dataclass +class Exp_7B_CLIP_ViT_L_p14_336px_Resize_Crop(Exp_7B_One_Stage): + model_id: str = "clip-336px-resize-crop+7b" + image_resize_strategy: str = "resize-crop" + + +@dataclass +class Exp_7B_CLIP_ViT_L_p14_336px_Resize_Naive(Exp_7B_One_Stage): + model_id: str = "clip-336px-resize-naive+7b" + image_resize_strategy: str = "resize-naive" + + +@dataclass +class Exp_7B_SigLIP_ViT_SO_p14_384px_Letterbox(Exp_7B_One_Stage): + model_id: str = "siglip-384px-letterbox+7b" + vision_backbone_id: str = "siglip-vit-so400m-384px" + image_resize_strategy: str = "letterbox" + + +@dataclass +class Exp_7B_SigLIP_ViT_SO_p14_384px_Resize_Crop(Exp_7B_One_Stage): + model_id: str = "siglip-384px-resize-crop+7b" + vision_backbone_id: str = "siglip-vit-so400m-384px" + image_resize_strategy: str = "resize-crop" + + +@dataclass +class Exp_7B_SigLIP_ViT_SO_p14_384px_Resize_Naive(Exp_7B_One_Stage): + model_id: str = "siglip-384px-resize-naive+7b" + vision_backbone_id: str = "siglip-vit-so400m-384px" + image_resize_strategy: str = "resize-naive" + + +# Section 4.2D :: 🥞 --> Stacking/Ensembling Visual Representations +@dataclass +class Exp_7B_DINOCLIP_ViT_L_p14_336px_Letterbox(Exp_7B_One_Stage): + model_id: str = "dinoclip-336px-letterbox+7b" + vision_backbone_id: str = "dinoclip-vit-l-336px" + image_resize_strategy: str = "letterbox" + arch_specifier: str = "no-align+fused-gelu-mlp" + + +@dataclass +class Exp_7B_DINOCLIP_ViT_L_p14_336px_Resize_Naive(Exp_7B_One_Stage): + model_id: str = "dinoclip-336px-resize-naive+7b" + vision_backbone_id: str = "dinoclip-vit-l-336px" + image_resize_strategy: str = "resize-naive" + arch_specifier: str = "no-align+fused-gelu-mlp" + + +@dataclass +class Exp_7B_DINOSigLIP_ViT_L_p14_384px_Letterbox(Exp_7B_One_Stage): + model_id: str = "dinosiglip-384px-letterbox+7b" + vision_backbone_id: str = "dinosiglip-vit-so-384px" + image_resize_strategy: str = "letterbox" + arch_specifier: str = "no-align+fused-gelu-mlp" + + +@dataclass +class Exp_7B_DINOSigLIP_ViT_L_p14_384px_Resize_Naive(Exp_7B_One_Stage): + model_id: str = "dinosiglip-384px-resize-naive+7b" + vision_backbone_id: str = "dinosiglip-vit-so-384px" + image_resize_strategy: str = "resize-naive" + arch_specifier: str = "no-align+fused-gelu-mlp" + + +# === Section 4.3 :: Language Models === + + +# Section 4.3A :: 📝 --> Base vs. Instruct-Tuned (Chat) LLMs +@dataclass +class Exp_7B_Llama2(Exp_7B_One_Stage): + model_id: str = "llama2+7b" + llm_backbone_id: str = "llama2-7b-pure" + + +@dataclass +class Exp_13B_Llama2(Exp_13B_One_Stage): + model_id: str = "llama2+13b" + llm_backbone_id: str = "llama2-13b-pure" + + +# ~ Additional LLM Backbones :: LLaMa-2 Chat, Mistral v0.1, Mistral v0.1 Instruct, Phi-2 ~ +@dataclass +class Ext_Exp_7B_Llama2_Chat(Exp_7B_One_Stage): + model_id: str = "llama2-chat+7b" + llm_backbone_id: str = "llama2-7b-chat" + + +@dataclass +class Ext_Exp_13B_Llama2_Chat(Exp_13B_One_Stage): + model_id: str = "llama2-chat+13b" + llm_backbone_id: str = "llama2-13b-chat" + + +@dataclass +class Ext_Exp_7B_Mistral_V1(Exp_7B_One_Stage): + model_id: str = "mistral-v0.1+7b" + llm_backbone_id: str = "mistral-v0.1-7b-pure" + + +@dataclass +class Ext_Exp_7B_Mistral_Instruct_V1(Exp_7B_One_Stage): + model_id: str = "mistral-instruct-v0.1+7b" + llm_backbone_id: str = "mistral-v0.1-7b-instruct" + + +@dataclass +class Ext_Exp_3B_Phi_2(Exp_7B_One_Stage): + model_id: str = "phi-2+3b" + llm_backbone_id: str = "phi-2-3b" + + +# Section 4.3B :: ✌️ --> Co-training on Language-only Data +# =>> Note :: Run with `--dataset.type "llava-multimodal" (multimodal data only / no co-training) +@dataclass +class Exp_7B_Vicuna_No_Cotraining(Exp_7B_One_Stage): + model_id: str = "vicuna-no-cotraining+7b" + + +@dataclass +class Exp_7B_Llama2_No_Cotraining(Exp_7B_One_Stage): + model_id: str = "llama2-no-cotraining+7b" + llm_backbone_id: str = "llama2-7b-pure" + + +# === Section 4.4 :: Scaling Properties - Train Time & Data === + + +# Section 4.4A :: ⏰ --> Scaling Train Time +@dataclass +class Exp_7B_1p25_Epochs(Exp_7B_One_Stage): + model_id: str = "train-1.25-epochs+7b" + finetune_max_steps: int = 6500 + + +@dataclass +class Exp_7B_1p5_Epochs(Exp_7B_One_Stage): + model_id: str = "train-1.5-epochs+7b" + finetune_max_steps: int = 7800 + + +@dataclass +class Exp_7B_2_Epochs(Exp_7B_One_Stage): + model_id: str = "train-2-epochs+7b" + finetune_epochs: int = 2 + + +@dataclass +class Exp_7B_3_Epochs(Exp_7B_One_Stage): + model_id: str = "train-3-epochs+7b" + finetune_epochs: int = 3 + + +# Section 4.4B :: 📚 --> Scaling Data +# =>> Note :: Run with `--dataset.type "llava-lvis4v"` +@dataclass +class Exp_7B_LLaVa_LVIS4V(Exp_7B_One_Stage): + model_id: str = "llava-lvis4v+7b" + + +# =>> Note :: Run with `--dataset.type "llava-lrv"` +@dataclass +class Exp_7B_LLaVa_LRV(Exp_7B_One_Stage): + model_id: str = "llava-lrv+7b" + + +# =>> Note :: Run with `--dataset.type "llava-lvis4v-lrv"` +@dataclass +class Exp_7B_LLaVa_LVIS4V_LRV(Exp_7B_One_Stage): + model_id: str = "llava-lvis4v-lrv+7b" + + +# === Section 5 :: Prisms === + + +# Prism-CLIP +@dataclass +class Prism_7B_CLIP_Controlled(Exp_7B_One_Stage): + model_id: str = "prism-clip-controlled+7b" + vision_backbone_id: str = "clip-vit-l-336px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-7b-pure" + + +@dataclass +class Prism_13B_CLIP_Controlled(Exp_13B_One_Stage): + model_id: str = "prism-clip-controlled+13b" + vision_backbone_id: str = "clip-vit-l-336px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-13b-pure" + + +# =>> Note :: Run with `--dataset.type "llava-lvis4v-lrv"` +@dataclass +class Prism_7B_CLIP(Exp_7B_One_Stage): + model_id: str = "prism-clip+7b" + vision_backbone_id: str = "clip-vit-l-336px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-7b-pure" + finetune_epochs: int = 2 + + +# =>> Note :: Run with `--dataset.type "llava-lvis4v-lrv"` +@dataclass +class Prism_13B_CLIP(Exp_13B_One_Stage): + model_id: str = "prism-clip+13b" + vision_backbone_id: str = "clip-vit-l-336px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-13b-pure" + finetune_epochs: int = 2 + + +# Prism-SigLIP +@dataclass +class Prism_7B_SigLIP_Controlled(Exp_7B_One_Stage): + model_id: str = "prism-siglip-controlled+7b" + vision_backbone_id: str = "siglip-vit-so400m-384px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-7b-pure" + + +@dataclass +class Prism_13B_SigLIP_Controlled(Exp_13B_One_Stage): + model_id: str = "prism-siglip-controlled+13b" + vision_backbone_id: str = "siglip-vit-so400m-384px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-13b-pure" + + +# =>> Note :: Run with `--dataset.type "llava-lvis4v-lrv"` +@dataclass +class Prism_7B_SigLIP(Exp_7B_One_Stage): + model_id: str = "prism-siglip+7b" + vision_backbone_id: str = "siglip-vit-so400m-384px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-7b-pure" + finetune_epochs: int = 2 + + +# =>> Note :: Run with `--dataset.type "llava-lvis4v-lrv"` +@dataclass +class Prism_13B_SigLIP(Exp_13B_One_Stage): + model_id: str = "prism-siglip+13b" + vision_backbone_id: str = "clip-vit-l-336px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-13b-pure" + finetune_epochs: int = 2 + + +# Prism-DINOSigLIP +@dataclass +class Prism_7B_DINOSigLIP_Controlled(Exp_7B_One_Stage): + model_id: str = "prism-dinosiglip-controlled+7b" + vision_backbone_id: str = "dinosiglip-vit-so-384px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-7b-pure" + arch_specifier: str = "no-align+fused-gelu-mlp" + + +@dataclass +class Prism_13B_DINOSigLIP_Controlled(Exp_13B_One_Stage): + model_id: str = "prism-dinosiglip-controlled+13b" + vision_backbone_id: str = "dinosiglip-vit-so-384px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-13b-pure" + arch_specifier: str = "no-align+fused-gelu-mlp" + + +# =>> Note :: Run with `--dataset.type "llava-lvis4v-lrv"` +@dataclass +class Prism_7B_DINOSigLIP(Exp_7B_One_Stage): + model_id: str = "prism-dinosiglip+7b" + vision_backbone_id: str = "dinosiglip-vit-so-384px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-7b-pure" + arch_specifier: str = "no-align+fused-gelu-mlp" + finetune_epochs: int = 2 + + +# =>> Note :: Run with `--dataset.type "llava-lvis4v-lrv"` +@dataclass +class Prism_13B_DINOSigLIP(Exp_13B_One_Stage): + model_id: str = "prism-dinosiglip+13b" + vision_backbone_id: str = "dinosiglip-vit-so-384px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-13b-pure" + arch_specifier: str = "no-align+fused-gelu-mlp" + finetune_epochs: int = 2 + + +# [Inference-Optimized] 224px Prisms +@dataclass +class Opt_7B_DINOSigLIP_ViT_SO_p14_224px_Resize_Naive(Exp_7B_One_Stage): + model_id: str = "dinosiglip-224px-resize-naive+7b" + vision_backbone_id: str = "dinosiglip-vit-so-224px" + image_resize_strategy: str = "resize-naive" + arch_specifier: str = "no-align+fused-gelu-mlp" + + +@dataclass +class Prism_7B_DINOSigLIP_224px_Controlled(Exp_7B_One_Stage): + model_id: str = "prism-dinosiglip-224px-controlled+7b" + vision_backbone_id: str = "dinosiglip-vit-so-224px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-7b-pure" + arch_specifier: str = "no-align+fused-gelu-mlp" + + +# =>> Note :: Run with `--dataset.type "llava-lvis4v-lrv"` +@dataclass +class Prism_7B_DINOSigLIP_224px(Exp_7B_One_Stage): + model_id: str = "prism-dinosiglip-224px+7b" + vision_backbone_id: str = "dinosiglip-vit-so-224px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "llama2-7b-pure" + arch_specifier: str = "no-align+fused-gelu-mlp" + finetune_epochs: int = 2 + + +# =>> Note :: Run with `--dataset.type "llava-lvis4v-lrv"` +@dataclass +class Prism_Qwen25_0_5B_DINOSigLIP_224px(Exp_7B_One_Stage): + model_id: str = "prism-qwen25-dinosiglip-224px+0_5b" + vision_backbone_id: str = "dinosiglip-vit-so-224px" + image_resize_strategy: str = "resize-naive" + llm_backbone_id: str = "qwen25-0_5b-pure" + arch_specifier: str = "no-align+fused-gelu-mlp" + finetune_epochs: int = 2 + + llm_max_length: int = 32768 + + +# =>> Note :: Run with `--dataset.type "llava-lvis4v-lrv"` +@dataclass +class Prism_Qwen25_0_5B_Extra_DINOSigLIP_224px(Prism_Qwen25_0_5B_DINOSigLIP_224px): + model_id: str = "prism-qwen25-extra-dinosiglip-224px+0_5b" + llm_backbone_id: str = "qwen25-0_5b-extra" + + +# === Define a Model Registry Enum for Reference & Validation === +@unique +class ModelRegistry(Enum): + # === LLaVa v1.5 Base Reproductions === + REPRODUCTION_7B = LLaVa_v15_Reproduction_7B + REPRODUCTION_13B = LLaVa_v15_Reproduction_13B + + # === Section 4.1 :: Optimization Procedure === + EXP_ONE_STAGE_7B = Exp_7B_One_Stage + EXP_ONE_STAGE_13B = Exp_13B_One_Stage + + EXP_FULL_FT_MULTI_STAGE = Exp_7B_Full_Finetune_Multi_Stage + EXP_FULL_FT_ONE_STAGE = Exp_7B_Full_Finetune_One_Stage + + # === Section 4.2 :: Image Processing and Visual Representations === + EXP_IN1K_224PX = Exp_7B_IN1K_ViT_L_p16_224px + EXP_DINOV2_224PX = Exp_7B_DINOv2_ViT_L_p14_224px + EXP_CLIP_224PX = Exp_7B_CLIP_ViT_L_p14_224px + EXP_SIGLIP_224PX = Exp_7B_SigLIP_ViT_SO_p14_224px + + EXP_CLIP_336PX_RESIZE_CROP = Exp_7B_CLIP_ViT_L_p14_336px_Resize_Crop + EXP_CLIP_336PX_RESIZE_NAIVE = Exp_7B_CLIP_ViT_L_p14_336px_Resize_Naive + EXP_SIGLIP_384PX_LETTERBOX = Exp_7B_SigLIP_ViT_SO_p14_384px_Letterbox + EXP_SIGLIP_384PX_RESIZE_CROP = Exp_7B_SigLIP_ViT_SO_p14_384px_Resize_Crop + EXP_SIGLIP_384PX_RESIZE_NAIVE = Exp_7B_SigLIP_ViT_SO_p14_384px_Resize_Naive + + EXP_DINOCLIP_336PX_LETTERBOX = Exp_7B_DINOCLIP_ViT_L_p14_336px_Letterbox + EXP_DINOCLIP_336PX_RESIZE_NAIVE = Exp_7B_DINOCLIP_ViT_L_p14_336px_Resize_Naive + EXP_DINOSIGLIP_384PX_LETTERBOX = Exp_7B_DINOSigLIP_ViT_L_p14_384px_Letterbox + EXP_DINOSIGLIP_384PX_RESIZE_NAIVE = Exp_7B_DINOSigLIP_ViT_L_p14_384px_Resize_Naive + + # === Section 4.3 :: Language Models === + EXP_LLAMA2_7B = Exp_7B_Llama2 + EXP_LLAMA2_13B = Exp_13B_Llama2 + + # ~ Additional LLM Backbone Experiments :: LLaMa-2 Chat, Mistral v0.1, Mistral v0.1 Instruct ~ + EXT_EXP_LLAMA2_CHAT_7B = Ext_Exp_7B_Llama2_Chat + EXT_EXP_LLAMA2_CHAT_13B = Ext_Exp_13B_Llama2_Chat + EXT_EXP_MISTRAL_V1_7B = Ext_Exp_7B_Mistral_V1 + EXT_EXP_MISTRAL_INSTRUCT_V1_7B = Ext_Exp_7B_Mistral_Instruct_V1 + EXT_EXP_PHI_2_3B = Ext_Exp_3B_Phi_2 + + # Cotraining w/ Unimodal Data + EXP_VICUNA_NO_COTRAINING_7B = Exp_7B_Vicuna_No_Cotraining + EXP_LLAMA2_NO_COTRAINING_7B = Exp_7B_Llama2_No_Cotraining + + # === Section 4.4 :: Scaling Properties - Train Time & Data === + EXP_1P25_EPOCHS = Exp_7B_1p25_Epochs + EXP_1P5_EPOCHS = Exp_7B_1p5_Epochs + EXP_2_EPOCHS = Exp_7B_2_Epochs + EXP_3_EPOCHS = Exp_7B_3_Epochs + + EXP_LLAVA_LVIS4V = Exp_7B_LLaVa_LVIS4V + EXP_LLAVA_LRV = Exp_7B_LLaVa_LRV + EXP_LLAVA_LVIS4V_LRV = Exp_7B_LLaVa_LVIS4V_LRV + + # === Section 5 :: Prisms === + PRISM_CLIP_CONTROLLED_7B = Prism_7B_CLIP_Controlled + PRISM_CLIP_CONTROLLED_13B = Prism_13B_CLIP_Controlled + PRISM_CLIP_7B = Prism_7B_CLIP + PRISM_CLIP_13B = Prism_13B_CLIP + + PRISM_SIGLIP_CONTROLLED_7B = Prism_7B_SigLIP_Controlled + PRISM_SIGLIP_CONTROLLED_13B = Prism_13B_SigLIP_Controlled + PRISM_SIGLIP_7B = Prism_7B_SigLIP + PRISM_SIGLIP_13B = Prism_13B_SigLIP + + PRISM_DINOSIGLIP_CONTROLLED_7B = Prism_7B_DINOSigLIP_Controlled + PRISM_DINOSIGLIP_CONTROLLED_13B = Prism_13B_DINOSigLIP_Controlled + PRISM_DINOSIGLIP_7B = Prism_7B_DINOSigLIP + PRISM_DINOSIGLIP_13B = Prism_13B_DINOSigLIP + + # === Inference Optimized :: 224px Prisms === + OPT_DINOSIGLIP_224PX_RESIZE_NAIVE = Opt_7B_DINOSigLIP_ViT_SO_p14_224px_Resize_Naive + PRISM_DINOSIGLIP_224PX_CONTROLLED_7B = Prism_7B_DINOSigLIP_224px_Controlled + PRISM_DINOSIGLIP_224PX_7B = Prism_7B_DINOSigLIP_224px + + # Qwen + PRISM_QWEN25_DINOSIGLIP_224PX_0_5B = Prism_Qwen25_0_5B_DINOSigLIP_224px + PRISM_QWEN25_EXTRA_DINOSIGLIP_224PX_0_5B = Prism_Qwen25_0_5B_Extra_DINOSigLIP_224px + + @property + def model_id(self) -> str: + return self.value.model_id + + +# Register Models in Choice Registry +for model_variant in ModelRegistry: + ModelConfig.register_subclass(model_variant.model_id, model_variant.value) \ No newline at end of file diff --git a/VLA-Adapter-UAV/prismatic/conf/vla.py b/VLA-Adapter-UAV/prismatic/conf/vla.py new file mode 100644 index 0000000000000000000000000000000000000000..8767ba4593521b959c25887fadec34c888c81429 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/conf/vla.py @@ -0,0 +1,319 @@ +""" +vla.py + +Draccus Dataclass Definition for a VLAConfig object, with various registered subclasses for each VLA experiment and +model configuration thereof. A given VLA model (`policy`) configures the following attributes: + - Data Mixture (e.g., Bridge, OXE_MAGIC_SOUP, etc.) + - Base VLM from Prismatic Registry (e.g., `prism-dinosiglip+7b`) + - VLA Model Architecture / Parameters (e.g., freeze vision encoder, last layer finetuning) + - Training / Optimization Hyperparameters +""" + +from dataclasses import dataclass +from enum import Enum, unique +from pathlib import Path +from typing import Optional, Union + +from draccus import ChoiceRegistry + + +@dataclass +class VLAConfig(ChoiceRegistry): + # fmt: off + vla_id: str # Unique VLA Policy ID that fully specifies a configuration variant + base_vlm: Union[str, Path] # Base VLM as ID/Path to Run Directory (e.g., `prism-dinosiglip+7b`) + freeze_vision_backbone: bool # Freeze Vision Backbone Parameters (akin to pretraining) + freeze_llm_backbone: bool # Freeze LLM Backbone parameters + unfreeze_last_llm_layer: bool # Unfreeze final layer of LLM (only takes effect if LLM is frozen) + + # Data Mixture Parameters + data_mix: str # Open-X Embodiment Dataset =>> Unique Mixture ID (e.g., `bridge`) + shuffle_buffer_size: int # Size of Shuffle Buffer (100K for Bridge, 1M for OXE) + + # Optimization Parameters + epochs: int # Epochs to Run (in case `max_steps` is not specified) + max_steps: Optional[int] # [Optional] Max Gradient Steps to Run (overrides `epochs`) + save_every_n_steps: Optional[int] + + expected_world_size: int # Expected # of GPUs =>> allows us to gate training on hardware + global_batch_size: int # Global Batch Size (divided across processes / world size) + per_device_batch_size: int # Per-Device Batch Size (per-process / individual GPU) + # =>> # of accumulation steps is auto-computed + + learning_rate: float # Peak Learning Rate (`lr_scheduler_type` sets warmup/decay) + weight_decay: float # Weight Decay for AdamW Optimizer + max_grad_norm: float # Max Grad Norm (for global gradient clipping) + lr_scheduler_type: str # LR Scheduler (usually: "constant" | "linear-warmup+cosine-decay") + warmup_ratio: float # Fraction of Steps to Warmup (for warmup LR schedulers) + + train_strategy: str # Train Strategy (default "fsdp-full-shard") + action_tokenizer: str + + image_sequence_len: int + use_wrist_image: bool + + # Enable Gradient/Activation Checkpointing (for the LLM Backbone) + enable_gradient_checkpointing: bool = True # Enable Gradient/Activation Checkpointing during Training + + # Mixed Precision Training via Torch Native AMP (`autocast`) + enable_mixed_precision_training: bool = True # Enable Traditional BF16 Mixed Precision + reduce_in_full_precision: bool = True # Accumulate/Reduce All-Gather Gradients in FP32 Full Precision + + # fmt: on + + +# === OpenVLA Training Configurations === + + +# = [8 GPU] Fast Iteration =>> SigLIP 224px + Bridge = +@dataclass +class Exp_SigLIP_224px_Bridge(VLAConfig): + vla_id: str = "siglip-224px+mx-bridge" + base_vlm: Union[str, Path] = "siglip-224px+7b" + + image_sequence_len: int = 1 + use_wrist_image: bool = False + + freeze_vision_backbone: bool = False + freeze_llm_backbone: bool = False + unfreeze_last_llm_layer: bool = False + + # Data Mixture Parameters + data_mix: str = "bridge" + shuffle_buffer_size: int = 256_000 + + # Optimization Parameters + epochs: int = 1000 + max_steps: Optional[int] = None + save_every_n_steps: Optional[int] = 25000 + + expected_world_size: int = 8 + global_batch_size: int = 256 + per_device_batch_size: int = 32 + + learning_rate: float = 2e-5 + weight_decay: float = 0.0 + max_grad_norm: float = 1.0 + lr_scheduler_type: str = "constant" + warmup_ratio: float = 0.0 + + train_strategy: str = "fsdp-full-shard" + action_tokenizer: str = "action_tokenizer" + + +# = [8 GPU] SigLIP 224px Frozen Vision Backbone + Bridge = +@dataclass +class Exp_FreezeVIT_SigLIP_224px_Bridge(Exp_SigLIP_224px_Bridge): + vla_id: str = "siglip-224px-icy+mx-bridge" + base_vlm: Union[str, Path] = "siglip-224px+7b" + freeze_vision_backbone: bool = True + + +# = [8 GPU] Fast Iteration =>> DINO-SigLIP 224px + Bridge = +@dataclass +class Exp_DinoSigLIP_224px_Bridge(Exp_SigLIP_224px_Bridge): + vla_id: str = "prism-dinosiglip-224px+mx-bridge" + base_vlm: Union[str, Path] = "prism-dinosiglip-224px+7b" + + data_mix: str = "bridge" + + +# = [64 GPU] SigLIP 224px + OXE Magic Soup = +@dataclass +class Exp_SigLIP_224px_OXE_Magic_Soup(Exp_SigLIP_224px_Bridge): + vla_id: str = "siglip-224px+mx-oxe-magic-soup" + base_vlm: Union[str, Path] = "siglip-224px+7b" + + data_mix: str = "oxe_magic_soup" + + expected_world_size: int = 64 + global_batch_size: int = 2048 + per_device_batch_size: int = 32 + + +# = [8 GPU] Qwen2.5 0.5B SigLIP 224px + OXE Magic Soup = +@dataclass +class Exp_Qwen25_DinoSigLIP_224px_0_5B_OXE_Magic_Soup(Exp_SigLIP_224px_Bridge): + vla_id: str = "prism-qwen25-dinosiglip-224px+0_5b+mx-oxe-magic-soup" + base_vlm: Union[str, Path] = "prism-qwen25-extra-dinosiglip-224px+0_5b" + + data_mix: str = "oxe_magic_soup" + action_tokenizer: str = "extra_action_tokenizer" + + expected_world_size: int = 8 + global_batch_size: int = 256 + per_device_batch_size: int = 32 + + +@dataclass +class Exp_Qwen25_DinoSigLIP_224px_0_5B_LIBERO_90(Exp_Qwen25_DinoSigLIP_224px_0_5B_OXE_Magic_Soup): + vla_id: str = "prism-qwen25-dinosiglip-224px+0_5b+mx-libero-90" + + data_mix: str = "libero_90" + + expected_world_size: int = 8 + global_batch_size: int = 256 + per_device_batch_size: int = 32 + + +@dataclass +class Exp_Qwen25_DinoSigLIP_224px_T2_0_5B_LIBERO_90(Exp_Qwen25_DinoSigLIP_224px_0_5B_LIBERO_90): + vla_id: str = "prism-qwen25-dinosiglip-224px-t2+0_5b+mx-libero-90" + image_sequence_len: int = 2 + + +@dataclass +class Exp_Qwen25_DinoSigLIP_224px_wrist_0_5B_LIBERO_90(Exp_Qwen25_DinoSigLIP_224px_0_5B_LIBERO_90): + vla_id: str = "prism-qwen25-dinosiglip-224px-wrist+0_5b+mx-libero-90" + image_sequence_len: int = 2 + use_wrist_image: bool = True + + +## bridge Qwen + + +@dataclass +class Exp_Qwen25_DinoSigLIP_224px_0_5B_Bridge(Exp_SigLIP_224px_Bridge): + vla_id: str = "prism-qwen25-dinosiglip-224px+0_5b+mx-bridge" + base_vlm: Union[str, Path] = "prism-qwen25-extra-dinosiglip-224px+0_5b" + + data_mix: str = "bridge_dataset" # direct dataset + action_tokenizer: str = "extra_action_tokenizer" + + expected_world_size: int = 8 + global_batch_size: int = 256 + per_device_batch_size: int = 32 + + +@dataclass +class Exp_DinoSigLIP_224px_LIBERO_90(Exp_DinoSigLIP_224px_Bridge): + vla_id: str = "prism-dinosiglip-224px+mx-libero-90" + + data_mix: str = "libero_90" + + expected_world_size: int = 8 + global_batch_size: int = 256 + per_device_batch_size: int = 32 + + +# = [64 GPU] DINO-SigLIP 224px + OXE Magic Soup++ = +@dataclass +class Exp_DinoSigLIP_224px_OXE_Magic_Soup_Plus(Exp_SigLIP_224px_Bridge): + vla_id: str = "prism-dinosiglip-224px+mx-oxe-magic-soup-plus" + base_vlm: Union[str, Path] = "prism-dinosiglip-224px+7b" + + # Note =>> We adopt two stages, training on a mixture including DROID for 70% of training, before resampling! + # data_mix: str = "oxe_magic_soup_plus" + data_mix: str = "oxe_magic_soup_plus_minus" + + expected_world_size: int = 64 + global_batch_size: int = 2048 + per_device_batch_size: int = 32 + + +# === OpenVLA Fine-tuning Configurations === + + +# = [8 GPU] SigLIP 224px + T-DROID = +@dataclass +class Exp_SigLIP_224px_TDROID_CarrotInBowl(Exp_SigLIP_224px_Bridge): + vla_id: str = "siglip-224px+mx-tdroid_carrot_in_bowl" + base_vlm: Union[str, Path] = "siglip-224px+7b" + + data_mix: str = "tdroid_carrot_in_bowl" + + +@dataclass +class Exp_SigLIP_224px_TDROID_PourCornInPot(Exp_SigLIP_224px_Bridge): + vla_id: str = "siglip-224px+mx-tdroid_pour_corn_in_pot" + base_vlm: Union[str, Path] = "siglip-224px+7b" + + data_mix: str = "tdroid_pour_corn_in_pot" + + +# = [8 GPU] SigLIP 224px + T-DROID -- Partial Finetuning = +@dataclass +class Exp_SigLIP_224px_Icy_TDROID_CarrotInBowl(Exp_SigLIP_224px_Bridge): + vla_id: str = "siglip-224px-icy+mx-tdroid_carrot_in_bowl" + base_vlm: Union[str, Path] = "siglip-224px+7b" + freeze_vision_backbone: bool = True + freeze_llm_backbone: bool = False + + data_mix: str = "tdroid_carrot_in_bowl" + + +@dataclass +class Exp_SigLIP_224px_LastLayer_TDROID_CarrotInBowl(Exp_SigLIP_224px_Bridge): + vla_id: str = "siglip-224px-last_layer+mx-tdroid_carrot_in_bowl" + base_vlm: Union[str, Path] = "siglip-224px+7b" + freeze_vision_backbone: bool = True + freeze_llm_backbone: bool = True + unfreeze_last_llm_layer: bool = True + + data_mix: str = "tdroid_carrot_in_bowl" + + +@dataclass +class Exp_SigLIP_224px_Sandwich_TDROID_CarrotInBowl(Exp_SigLIP_224px_Bridge): + vla_id: str = "siglip-224px-sandwich+mx-tdroid_carrot_in_bowl" + base_vlm: Union[str, Path] = "siglip-224px+7b" + freeze_vision_backbone: bool = False + freeze_llm_backbone: bool = True + unfreeze_last_llm_layer: bool = True + + data_mix: str = "tdroid_carrot_in_bowl" + + +# === [8 GPU] SigLIP 224px + FrankaWipe === +@dataclass +class Exp_SigLIP_224px_Droid_Wipe(Exp_SigLIP_224px_Bridge): + vla_id: str = "siglip-224px+mx-droid_wipe" + base_vlm: Union[str, Path] = "siglip-224px+7b" + + data_mix: str = "droid_wipe" + + +# === Define a VLA Registry Enum for Reference & Validation === +@unique +class VLARegistry(Enum): + # Sanity Check Configurations =>> BridgeV2 + SIGLIP_224PX_MX_BRIDGE = Exp_SigLIP_224px_Bridge + DINOSIGLIP_224PX_MX_BRIDGE = Exp_DinoSigLIP_224px_Bridge + DINOSIGLIP_224PX_MX_LIBERO_90 = Exp_DinoSigLIP_224px_LIBERO_90 + + # SigLIP Frozen Backbone Experiment + FREEZE_SIGLIP_224PX_MX_BRIDGE = Exp_FreezeVIT_SigLIP_224px_Bridge + + # [OpenVLA v0.1 7B] SigLIP 224px + OXE Magic Soup + SIGLIP_224PX_MX_OXE_MAGIC_SOUP = Exp_SigLIP_224px_OXE_Magic_Soup + + # [OpenVLA 7B] DINO + SigLIP 224px + OXE Magic Soup++ + DINOSIGLIP_224PX_MX_OXE_MAGIC_SOUP_PLUS = Exp_DinoSigLIP_224px_OXE_Magic_Soup_Plus + + # [OpenVLA 0.5B] Qwen backbones + QWEN25_DINOSIGLIP_224PX_0_5B_MX_OXE_MAGIC_SOUP = Exp_Qwen25_DinoSigLIP_224px_0_5B_OXE_Magic_Soup + QWEN25_DINOSIGLIP_224PX_0_5B_LIBERO_90 = Exp_Qwen25_DinoSigLIP_224px_0_5B_LIBERO_90 + QWEN25_DINOSIGLIP_224PX_T2_0_5B_LIBERO_90 = Exp_Qwen25_DinoSigLIP_224px_T2_0_5B_LIBERO_90 + QWEN25_DINOSIGLIP_224PX_WRIST_0_5B_LIBERO_90 = Exp_Qwen25_DinoSigLIP_224px_wrist_0_5B_LIBERO_90 + + QWEN25_DINOSIGLIP_224PX_0_5B_BRIDGE = Exp_Qwen25_DinoSigLIP_224px_0_5B_Bridge + + # === TDROID Fine-tuning Configs === + SIGLIP_224PX_MX_TDROID_CARROT_IN_BOWL = Exp_SigLIP_224px_TDROID_CarrotInBowl + SIGLIP_224PX_MX_TDROID_POUR_CORN_IN_POT = Exp_SigLIP_224px_TDROID_PourCornInPot + + SIGLIP_224PX_ICY_MX_TDROID_CARROT_IN_BOWL = Exp_SigLIP_224px_Icy_TDROID_CarrotInBowl + SIGLIP_224PX_LASTLAYER_MX_TDROID_CARROT_IN_BOWL = Exp_SigLIP_224px_LastLayer_TDROID_CarrotInBowl + SIGLIP_224PX_SANDWICH_MX_TDROID_CARROT_IN_BOWL = Exp_SigLIP_224px_Sandwich_TDROID_CarrotInBowl + + # === DROID Fine-tuning Configs === + SIGLIP_224PX_MX_DROID_WIPE = Exp_SigLIP_224px_Droid_Wipe + + @property + def vla_id(self) -> str: + return self.value.vla_id + + +# Register VLAs in Choice Registry +for vla_variant in VLARegistry: + VLAConfig.register_subclass(vla_variant.vla_id, vla_variant.value) \ No newline at end of file diff --git a/VLA-Adapter-UAV/prismatic/extern/__init__.py b/VLA-Adapter-UAV/prismatic/extern/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/VLA-Adapter-UAV/prismatic/extern/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/extern/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..65b5dabcb6b4d0fbac94da167e09d6e82fa00704 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/extern/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/extern/hf/__init__.py b/VLA-Adapter-UAV/prismatic/extern/hf/__init__.py new file mode 100644 index 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0000000000000000000000000000000000000000..ee0e66df1a9c5fcd6875ee03be66d89082d260cb Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/extern/hf/__pycache__/processing_prismatic.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/extern/hf/configuration_prismatic.py b/VLA-Adapter-UAV/prismatic/extern/hf/configuration_prismatic.py new file mode 100644 index 0000000000000000000000000000000000000000..5ca526ff14673d0b034372598948388153b61ed1 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/extern/hf/configuration_prismatic.py @@ -0,0 +1,144 @@ +""" +configuration_prismatic.py + +HuggingFace-style configuration definition for Prismatic VLMs, inheriting from `transformers.PretrainedConfig`. +Default configuration specifies `siglip-224px+7b`. +""" + +from typing import Any, Dict, List, Optional + +from transformers import PretrainedConfig +from transformers.models.auto import CONFIG_MAPPING + +# === Utilities for Mapping Prismatic names to HF names === +# fmt: off +VISION_BACKBONE_TO_RESOLUTION: Dict[str, List[int]] = { + "clip-vit-l": [224], "siglip-vit-so400m": [224], "dinov2-vit-l": [224], "in1k-vit-l": [224], + + "clip-vit-l-336px": [336], + "siglip-vit-so400m-384px": [384], + + "dinoclip-vit-l-336px": [336, 336], + "dinosiglip-vit-so-224px": [224, 224], + "dinosiglip-vit-so-384px": [384, 384], +} +VISION_BACKBONE_TO_TIMM_ID: Dict[str, List[str]] = { + "clip-vit-l": ["vit_large_patch14_clip_224.openai"], + "clip-vit-l-336px": ["vit_large_patch14_clip_336.openai"], + + "dinov2-vit-l": ["vit_large_patch14_reg4_dinov2.lvd142m"], + "in1k-vit-l": ["vit_large_patch16_224.augreg_in21k_ft_in1k"], + + "siglip-vit-so400m": ["vit_so400m_patch14_siglip_224"], + "siglip-vit-so400m-384px": ["vit_so400m_patch14_siglip_384"], + + "dinoclip-vit-l-336px": ["vit_large_patch14_reg4_dinov2.lvd142m", "vit_large_patch14_clip_336.openai"], + "dinosiglip-vit-so-224px": ["vit_large_patch14_reg4_dinov2.lvd142m", "vit_so400m_patch14_siglip_224"], + "dinosiglip-vit-so-384px": ["vit_large_patch14_reg4_dinov2.lvd142m", "vit_so400m_patch14_siglip_384"], +} +TIMM_OVERRIDE_ACT_LAYER: Dict[str, List[Optional[str]]] = { + "clip-vit-l": ["quick_gelu"], "clip-vit-l-336px": ["quick_gelu"], + "dinov2-vit-l": [None], "in1k-vit-l": [None], + "siglip-vit-so400m": [None], "siglip-vit-so400m-384px": [None], + "dinoclip-vit-l-336px": [None, "quick_gelu"], + "dinosiglip-vit-so-224px": [None, None], "dinosiglip-vit-so-384px": [None, None] +} + +LLM_BACKBONE_TO_HF_PATH = { + "llama2-7b-pure": "meta-llama/Llama-2-7b-hf", "llama2-13b-pure": "meta-llama/Llama-2-13b-hf", + "llama2-7b-chat": "meta-llama/Llama-2-7b-chat-hf", "llama2-13b-chat": "meta-llama/Llama-2-13b-chat-hf", + + "vicuna-v15-7b": "lmsys/vicuna-7b-v1.5", "vicuna-v15-13b": "lmsys/vicuna-13b-v1.5", + + "mistral-v0.1-7b-pure": "mistralai/Mistral-7B-v0.1", + "mistral-v0.1-7b-instruct": "mistralai/Mistral-7B-Instruct-v0.1", + + "phi-2-3b": "microsoft/phi-2", + "qwen25-0_5b-extra": "Qwen/Qwen2.5-0.5B", "qwen25-0_5b-pure": "Qwen/Qwen2.5-0.5B" + + +} +LLM_BACKBONE_TO_HF_METACLASS = { + "llama2-7b-pure": "llama", "llama2-13b-pure": "llama", "llama2-7b-chat": "llama", "llama2-13b-chat": "llama", + "vicuna-v15-7b": "llama", "vicuna-v15-13b": "llama", + + "mistral-v0.1-7b-pure": "mistral", "mistral-v0.1-7b-instruct": "mistral", + + "phi-2-3b": "phi", + "qwen25-0_5b-extra": "qwen2" ,"qwen25-0_5b-pure": "qwen2" +} + +VALID_VISION_BACKBONES = set(VISION_BACKBONE_TO_RESOLUTION.keys()) +VALID_LLM_BACKBONES = set(LLM_BACKBONE_TO_HF_PATH) +# fmt: on + + +class PrismaticConfig(PretrainedConfig): + model_type: str = "prismatic" + is_composition: bool = False + + def __init__( + self, + vision_backbone_id: str = "siglip-vit-so400m", + llm_backbone_id: str = "vicuna-v15-7b", + arch_specifier: str = "no-align+gelu-mlp", + use_fused_vision_backbone: Optional[bool] = None, + image_resize_strategy: str = "letterbox", + text_config: Optional[Dict[str, Any]] = None, + llm_max_length: int = 2048, + pad_token_id: int = 32000, + pad_to_multiple_of: int = 64, + output_projector_states: bool = False, + **kwargs: str, + ) -> None: + if vision_backbone_id not in VALID_VISION_BACKBONES: + raise ValueError(f"Vision backbone `{vision_backbone_id}` not in {VALID_VISION_BACKBONES = }") + + if llm_backbone_id not in VALID_LLM_BACKBONES: + raise ValueError(f"LLM backbone `{llm_backbone_id}` not in {VALID_LLM_BACKBONES = }") + + # Set Prismatic Configuration Fields + self.vision_backbone_id = vision_backbone_id + self.llm_backbone_id = llm_backbone_id + self.arch_specifier = arch_specifier + self.output_projector_states = output_projector_states + + # [Contract] All vision backbone parameters are lists =>> supports fused backbones with different preprocessing + self.use_fused_vision_backbone = ( + use_fused_vision_backbone + if use_fused_vision_backbone is not None + else any(self.vision_backbone_id.startswith(v) for v in ["dinoclip", "dinosiglip"]) + ) + + self.timm_model_ids = VISION_BACKBONE_TO_TIMM_ID[self.vision_backbone_id] + self.timm_override_act_layers = TIMM_OVERRIDE_ACT_LAYER[self.vision_backbone_id] + self.image_sizes = VISION_BACKBONE_TO_RESOLUTION[self.vision_backbone_id] + self.image_resize_strategy = image_resize_strategy + + self.hf_llm_id = LLM_BACKBONE_TO_HF_PATH[self.llm_backbone_id] + self.llm_max_length = llm_max_length + self.pad_token_id, self.pad_to_multiple_of = pad_token_id, pad_to_multiple_of + + # [IMPORTANT] HF Utilities actually look for a `text_config` field... we need to use that specific naming! + self.text_config = ( + CONFIG_MAPPING[LLM_BACKBONE_TO_HF_METACLASS[self.llm_backbone_id]](**text_config) + if text_config is not None + else CONFIG_MAPPING[LLM_BACKBONE_TO_HF_METACLASS[self.llm_backbone_id]]() + ) + + # Dispatch **kwargs to super() =>> note that `pad_token_id` collides, so we pass it in here as well... + super().__init__(pad_token_id=pad_token_id, **kwargs) + + +class OpenVLAConfig(PrismaticConfig): + model_type: str = "openvla" + + def __init__( + self, + norm_stats: Optional[Dict[str, Dict[str, Dict[str, Dict[str, List[float]]]]]] = None, + n_action_bins: int = 256, + **kwargs: str, + ) -> None: + self.norm_stats, self.n_action_bins = norm_stats, n_action_bins + + super().__init__(**kwargs) diff --git a/VLA-Adapter-UAV/prismatic/extern/hf/modeling_prismatic.py b/VLA-Adapter-UAV/prismatic/extern/hf/modeling_prismatic.py new file mode 100644 index 0000000000000000000000000000000000000000..6f3f7d849175197f14338dd9d3f72ae90991303b --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/extern/hf/modeling_prismatic.py @@ -0,0 +1,1029 @@ +""" +modeling_prismatic.py + +Core HuggingFace-style PrismaticPreTrainedModel and PrismaticForConditionalGeneration class definitions. +Inherits from the default `transformers.PretrainedModel`. Meant to be standalone and self-contained, +but exactly replicate the logic in `prismatic.models.vlms.prismatic.py`. +""" + +import logging +from dataclasses import dataclass +from functools import partial +from typing import Any, Callable, ClassVar, Dict, List, Optional, Tuple, Union +import numpy as np +import timm +import tokenizers +import torch +import torch.nn as nn +import transformers +from timm.models.vision_transformer import LayerScale +from transformers import AutoModelForCausalLM, PretrainedConfig, PreTrainedModel +from transformers.modeling_outputs import ModelOutput + +from prismatic.training.train_utils import ( + get_current_action_mask, + get_next_actions_mask, +) +from prismatic.vla.constants import ( + ACTION_DIM, + ACTION_PROPRIO_NORMALIZATION_TYPE, + ACTION_TOKEN_BEGIN_IDX, + IGNORE_INDEX, + NUM_ACTIONS_CHUNK, + STOP_INDEX, + NormalizationType, + NUM_TOKENS +) +from .configuration_prismatic import OpenVLAConfig, PrismaticConfig + + + +# Set up logger +logger = logging.getLogger(__name__) + + +# === Utility Functions for Monkey-Patching === +def unpack_tuple(fn: Callable[[Any], Tuple[Any]]) -> Callable[[Any], Any]: + def wrapper(*args: Any, **kwargs: Any) -> Any: + result = fn(*args, **kwargs) + return result[0] if isinstance(result, tuple) else result + + return wrapper + + + +# HF Transformers overwrites parameters with names containing `gamma`; we're going to patch VisionBackbone.LayerScale. +# =>> TIMM :: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L109 +# =>> Transformers :: https://github.com/huggingface/transformers/blob/main/src/transformers/modeling_utils.py#L3960 +def _ls_new_forward(self, x: torch.Tensor) -> torch.Tensor: + return x.mul_(self.scale_factor) if self.inplace else x * self.scale_factor + + + +def ls_apply_patch(ls_module: LayerScale): + ls_module.scale_factor = nn.Parameter(ls_module.gamma.clone()) + ls_module.forward = _ls_new_forward.__get__(ls_module, LayerScale) + del ls_module.gamma + + + +# === Prismatic Vision Backbone (nn.Module) Definitions (w/ Fused Backbone Support) === +class PrismaticVisionBackbone(nn.Module): + """ + Vision backbone for Prismatic models that handles image feature extraction. + + Supports both single backbone (e.g., SigLIP) and fused backbone (e.g., SigLIP + DINOv2) configurations. + For fused backbones, features from both models are concatenated along the feature dimension. + """ + + def __init__( + self, + use_fused_vision_backbone: bool, + image_sizes: List[int], + timm_model_ids: List[str], + timm_override_act_layers: List[Optional[str]], + ) -> None: + """ + Initialize the vision backbone. + + Args: + use_fused_vision_backbone: Whether to use two backbones and fuse their features + image_sizes: List of image sizes for each backbone + timm_model_ids: List of TIMM model IDs to use for each backbone + timm_override_act_layers: List of activation layer overrides for each backbone + """ + super().__init__() + self.use_fused_vision_backbone = use_fused_vision_backbone + self.num_images_in_input = 1 # Default value, can be overridden later + + # Validate number of (fused) vision backbones + if len(timm_model_ids) > 2: + raise ValueError("Prismatic models only support up to 2 (fused) vision backbones!") + + # Create primary featurizer + self.featurizer = self._create_featurizer( + model_id=timm_model_ids[0], img_size=image_sizes[0], act_layer=timm_override_act_layers[0] + ) + self.embed_dim = self.featurizer.embed_dim + + # Create secondary featurizer if using fused backbone + if self.use_fused_vision_backbone: + self.fused_featurizer = self._create_featurizer( + model_id=timm_model_ids[1], img_size=image_sizes[1], act_layer=timm_override_act_layers[1] + ) + self.embed_dim += self.fused_featurizer.embed_dim + + # Patch LayerScale modules for HF compatibility + self._patch_layer_scales() + + + def _create_featurizer(self, model_id: str, img_size: int, act_layer: Optional[str]) -> nn.Module: + """ + Create a TIMM-based featurizer model with appropriate configurations. + + Args: + model_id: The TIMM model ID to load + img_size: Input image size for the model + act_layer: Override for the activation layer type + + Returns: + A configured featurizer model + """ + featurizer = timm.create_model( + model_id, + pretrained=False, + num_classes=0, + img_size=img_size, + act_layer=act_layer, + ) + + # Monkey-patch the forward function to extract the second-to-last layer features + num_blocks = len(featurizer.blocks) + featurizer.forward = unpack_tuple(partial(featurizer.get_intermediate_layers, n={num_blocks - 2})) + + return featurizer + + + def _patch_layer_scales(self) -> None: + """ + Patch all LayerScale modules to be compatible with HF's parameter naming. + + HF Transformers overwrites parameters with names containing 'gamma', + so we need to rename and modify the forward method. + """ + # Patch primary featurizer + for module in self.featurizer.modules(): + if isinstance(module, LayerScale): + ls_apply_patch(module) + + # Patch secondary featurizer if it exists + if self.use_fused_vision_backbone: + for module in self.fused_featurizer.modules(): + if isinstance(module, LayerScale): + ls_apply_patch(module) + + + def get_num_patches(self) -> int: + """ + Returns the number of vision patches output by the vision backbone. + + Returns: + Number of patches per image + """ + return self.featurizer.patch_embed.num_patches + + + def get_num_images_in_input(self) -> int: + """ + Returns the number of input images for the vision backbone. + + Returns: + Number of images expected in the input + """ + return self.num_images_in_input + + + def set_num_images_in_input(self, num_images_in_input: int) -> None: + """ + Sets the number of input images for the vision backbone. + + Args: + num_images_in_input: Number of images to expect in the input + """ + self.num_images_in_input = num_images_in_input + + + def forward(self, pixel_values: torch.Tensor) -> torch.Tensor: + """ + Implements the forward pass for the vision backbone. + + If `self.use_fused_vision_backbone == True`, uses both SigLIP and DINOv2 transformers to extract visual features + (otherwise uses SigLIP only). Allows multi-image inputs (but only for fused vision backbone). + + Args: + pixel_values (torch.Tensor): Pixels for input image(s), (B, C, H, W). + """ + if self.num_images_in_input == 1: + if not self.use_fused_vision_backbone: + return self.featurizer(pixel_values) + + # Split `pixel_values :: [bsz, 2 * 3, resolution, resolution]` =>> featurize =>> channel stack + img, img_fused = torch.split(pixel_values, [3, 3], dim=1) + patches, patches_fused = self.featurizer(img), self.fused_featurizer(img_fused) + + return torch.cat([patches, patches_fused], dim=2) + + else: + assert self.use_fused_vision_backbone, "Multi-image inputs require using fused backbone!" + + # Split `pixel_values` into individual images (each with 6 channels: 3 for SigLIP + 3 for DINOv2) + images = torch.split(pixel_values, [6] * self.num_images_in_input, dim=1) + + # Process each image and collect patches + all_patches = [] + for img in images: + # Split each image further into two stacks of channels (each with 3 channels) + img_regular, img_fused = torch.split(img, [3, 3], dim=1) + + # Get patches from both SigLIP and DINOv2 vision transformers + patches = self.featurizer(img_regular) + patches_fused = self.fused_featurizer(img_fused) + + # Concatenate SigLIP and DINOv2 patches along the hidden dimension + combined_patches = torch.cat([patches, patches_fused], dim=2) + all_patches.append(combined_patches) + + # Concatenate all patches along the patch dimension + return torch.cat(all_patches, dim=1) + + + +# === Prismatic Projector (nn.Module) Definitions === +class PrismaticProjector(nn.Module): + def __init__(self, use_fused_vision_backbone: bool, vision_dim: int, llm_dim: int) -> None: + super().__init__() + self.use_fused_vision_backbone = use_fused_vision_backbone + self.vision_dim, self.llm_dim = vision_dim, llm_dim + + # Switch on `use_fused_vision_backbone` =>> use slightly different MLPs and projection factors! + if not self.use_fused_vision_backbone: + self.fc1 = nn.Linear(self.vision_dim, self.llm_dim, bias=True) + self.fc2 = nn.Linear(self.llm_dim, self.llm_dim, bias=True) + self.act_fn1 = nn.GELU() + else: + initial_projection_dim = 4 * vision_dim + self.fc1 = nn.Linear(self.vision_dim, initial_projection_dim, bias=True) + self.fc2 = nn.Linear(initial_projection_dim, self.llm_dim, bias=True) + self.fc3 = nn.Linear(self.llm_dim, self.llm_dim, bias=True) + self.act_fn1 = nn.GELU() + self.act_fn2 = nn.GELU() + + def forward(self, img_patches: torch.Tensor) -> torch.Tensor: + if not self.use_fused_vision_backbone: + projected_features = self.fc1(img_patches) + projected_features = self.act_fn1(projected_features) + projected_features = self.fc2(projected_features) + else: + projected_features = self.fc1(img_patches) + projected_features = self.act_fn1(projected_features) + projected_features = self.fc2(projected_features) + projected_features = self.act_fn2(projected_features) + projected_features = self.fc3(projected_features) + + return projected_features + + + +# === Main HF Class Definitions === +@dataclass +class PrismaticCausalLMOutputWithPast(ModelOutput): + """Base class for Prismatic casual (visually-conditioned) language model outputs; also exposes visual features.""" + + loss: Optional[torch.FloatTensor] = None + logits: torch.FloatTensor = None + past_key_values: Optional[Tuple[Tuple[torch.FloatTensor]]] = None + hidden_states: Optional[Tuple[torch.FloatTensor, ...]] = None + attentions: Optional[Tuple[torch.FloatTensor]] = None + + # Additions for VLMs + projector_features: Optional[torch.FloatTensor] = None + + + +class PrismaticPreTrainedModel(PreTrainedModel): + config_class: PretrainedConfig = PrismaticConfig + base_model_prefix: str = "model" + supports_gradient_checkpointing: bool = True + + _no_split_modules: ClassVar[List[str]] = ["PrismaticProjector"] + _skip_keys_device_placement: str = "past_key_values" + _supports_flash_attn_2: bool = True + + def _init_weights(self, module: nn.Module) -> None: + # Important :: this HF ported version is *not* meant for training from scratch; only inference and fine-tuning! + # => As such, this init_weights code is not correct; if training VLMs from scratch, use the main codebase at + # https://github.com/TRI-ML/prismatic-vlms + std = ( + self.config.initializer_range + if hasattr(self.config, "initializer_range") + else self.config.text_config.initializer_range + ) + + if hasattr(module, "class_embedding"): + module.class_embedding.data.normal_(mean=0.0, std=std) + + if isinstance(module, (nn.Linear, nn.Conv2d)): + module.weight.data.normal_(mean=0.0, std=std) + if module.bias is not None: + module.bias.data.zero_() + elif isinstance(module, nn.Embedding): + module.weight.data.normal_(mean=0.0, std=std) + if module.padding_idx is not None: + module.weight.data[module.padding_idx].zero_() + + @property + def _supports_sdpa(self) -> bool: + """Check LLM supports SDPA Attention""" + return self.language_model._supports_sdpa + + + +class PrismaticForConditionalGeneration(PrismaticPreTrainedModel): + def __init__(self, config: PrismaticConfig) -> None: + super().__init__(config) + + # [Validation] Lightweight Validate on `config` Fields + Dependency Versions + if config.use_fused_vision_backbone is None: + raise ValueError("Missing config field `use_fused_vision_backbone`") + + if timm.__version__ not in {"0.9.10", "0.9.11", "0.9.12", "0.9.16"}: + raise NotImplementedError( + "TIMM Version must be >= 0.9.10 and < 1.0.0 (breaking); please raise a GitHub Issue " + "if you urgently need support for latest TIMM versions." + ) + + if (transformers.__version__ != "4.40.1") or (tokenizers.__version__ != "0.19.1"): + logger.warning( + f"Expected `transformers==4.40.1` and `tokenizers==0.19.1` but got " + f"`transformers=={transformers.__version__}` and `tokenizers=={tokenizers.__version__}`; " + f"there might be inference-time regressions due to dependency changes. If in doubt, please" + f"use the above versions." + ) + + # Instantiate PrismaticVisionBackbone (w/ Potential Fused Backbone) + self.vision_backbone = PrismaticVisionBackbone( + config.use_fused_vision_backbone, config.image_sizes, config.timm_model_ids, config.timm_override_act_layers + ) + + # Create Multimodal Projector + self.projector = PrismaticProjector( + config.use_fused_vision_backbone, + vision_dim=self.vision_backbone.embed_dim, + llm_dim=config.text_config.hidden_size, + ) + + # Instantiate LLM Backbone + self.language_model = AutoModelForCausalLM.from_config( + config.text_config, attn_implementation=config._attn_implementation + ) + + self.vocab_size = config.text_config.vocab_size + self.pad_token_id = config.pad_token_id + self.llm_dim = config.text_config.hidden_size + # 双图像 UAV 输入的时序身份嵌入：0=首帧，1=当前帧。 + self.frame_type_embeddings = nn.Embedding(2, self.llm_dim) + self.state_type_embeddings = nn.Embedding(2, self.llm_dim) + + #Action query token + self.action_queries = nn.Embedding(NUM_TOKENS, self.llm_dim) + self.action_queries.weight.data.zero_() + + # HF Boilerplate =>> initializes weights via `_init_weights()` and sets gradient checkpointing + self.post_init() + + # === `PreTrainedModel` Boilerplate === + def get_input_embeddings(self) -> nn.Module: + return self.language_model.get_input_embeddings() + def set_version(self, version: str): + self.version = version + return self.version + + + def set_input_embeddings(self, value: nn.Module) -> None: + self.language_model.set_input_embeddings(value) + + def get_output_embeddings(self) -> nn.Module: + return self.language_model.get_output_embeddings() + + def set_output_embeddings(self, new_embeddings: nn.Module) -> None: + self.language_model.set_output_embeddings(new_embeddings) + + def get_decoder(self) -> nn.Module: + return self.language_model.get_decoder() + + def set_decoder(self, decoder: nn.Module) -> None: + self.language_model.set_decoder(decoder) + + def tie_weights(self) -> None: + self.language_model.tie_weights() # Note: `Llama-2` and `Mistral` don't tie weights (no-op) + + def resize_token_embeddings( + self, new_num_tokens: Optional[int] = None, pad_to_multiple_of: Optional[int] = None + ) -> nn.Embedding: + updated_embeddings = self.language_model.resize_token_embeddings(new_num_tokens, pad_to_multiple_of) + + # Update config/instance variables + self.config.text_config.vocab_size = updated_embeddings.num_embeddings + self.vocab_size = updated_embeddings.num_embeddings + + return updated_embeddings + + def _replace_input_embeddings(self, input_embeddings, all_actions_mask, noisy_action_features): + """ + Replace embeddings in input_embeddings at positions where all_actions_mask is True + with embeddings from noisy_action_features, using vectorized operations. + + Args: + input_embeddings: Tensor of shape (B, S, D) + all_actions_mask: Boolean tensor of shape (B, S) + noisy_action_features: Tensor of shape (B, K, D) where K is the number of True values in mask per sample + + Returns: + Modified input_embeddings tensor + """ + # Clone input to avoid modifying the original tensor + new_input_embeddings = input_embeddings.clone() + + # Create a tensor with the same shape of input_embeddings to hold the noisy action features + repositioned_noisy_action_features = torch.zeros_like(input_embeddings) + + # Create batch indices for splicing + batch_indices = torch.arange(input_embeddings.shape[0], device=input_embeddings.device) + batch_indices = batch_indices.unsqueeze(1).expand(-1, noisy_action_features.shape[1]) + + # Get indices where mask is True for each sample + masked_indices = torch.stack([torch.where(mask)[0] for mask in all_actions_mask]) + + # Move the noisy action features into their correct positions + # print(noisy_action_features.size()) + + repositioned_noisy_action_features[batch_indices, masked_indices] = noisy_action_features + + # Combine original input embeddings and noisy action embeddings using the mask + new_input_embeddings = torch.where( + all_actions_mask.unsqueeze(-1), repositioned_noisy_action_features, new_input_embeddings + ) + + return new_input_embeddings + + def _process_action_masks(self, labels): + """Helper to get action masks from labels""" + current_action_mask = get_current_action_mask(labels) + next_actions_mask = get_next_actions_mask(labels) + all_actions_mask = current_action_mask | next_actions_mask # (B, seq_len) + return all_actions_mask + + def _process_vision_features(self, pixel_values, language_embeddings=None, use_film=False): + """Process vision features with optional FiLM conditioning""" + if use_film: + # FiLM: Infuse language inputs into visual features + patch_features = self.vision_backbone(pixel_values, language_embeddings) # (bsz, 256 * num_images, D) + else: + patch_features = self.vision_backbone(pixel_values) # (bsz, 256 * num_images, D) + + # Project patch embeddings into language embedding space + projected_features = self.projector(patch_features) + if self.vision_backbone.get_num_images_in_input() == 2: + num_patches = self.vision_backbone.get_num_patches() + frame_types = self.frame_type_embeddings.weight.to(projected_features.dtype) + projected_features[:, :num_patches] += frame_types[0] + projected_features[:, num_patches: 2 * num_patches] += frame_types[1] + return projected_features + + def _process_proprio_features(self, projected_patch_embeddings, proprio, proprio_projector): + """Process proprioceptive features and append to vision features""" + if proprio_projector is not None and proprio is not None: + # projected_patch_embeddings: (bsz, num_patches * num_images, llm_dim) + # proprio: (bsz, proprio_dim) or (propro_dim,) + batch_size = projected_patch_embeddings.shape[0] + if proprio.ndim == 3: + # 双图像输入：按 [首帧状态, 当前状态] 分别投影为两个状态 token。 + proprio_features = proprio_projector(proprio.reshape(-1, proprio.shape[-1])) + proprio_features = proprio_features.reshape(batch_size, proprio.shape[1], -1) + proprio_features = proprio_features + self.state_type_embeddings.weight.to(proprio_features.dtype) + else: + proprio = proprio.reshape(batch_size, -1) + proprio_features = proprio_projector(proprio).unsqueeze(dim=1) + # For simplicity, just append proprio token to the end of projected vision patch tokens + return torch.cat((projected_patch_embeddings, proprio_features), dim=1) + return projected_patch_embeddings + + def _build_multimodal_attention(self, input_embeddings, projected_patch_embeddings, attention_mask): + """Build multimodal embeddings and attention mask""" + # Update attention mask + + projected_patch_attention_mask = None + if attention_mask is not None: + projected_patch_attention_mask = torch.full( + (projected_patch_embeddings.shape[0], projected_patch_embeddings.shape[1]), + fill_value=True, + dtype=attention_mask.dtype, + device=attention_mask.device, + ) + + # Build multimodal embeddings & attention mask; insert embeddings after token (1:) + multimodal_embeddings = torch.cat( + [input_embeddings[:, :1, :], projected_patch_embeddings, input_embeddings[:, 1:, :]], dim=1 + ) + + multimodal_attention_mask = None + if attention_mask is not None: + multimodal_attention_mask = torch.cat( + [attention_mask[:, :1], projected_patch_attention_mask, attention_mask[:, 1:]], dim=1 + ) + + return multimodal_embeddings, multimodal_attention_mask + + def _build_multimodal_labels(self, labels, projected_patch_embeddings): + """Build multimodal labels with IGNORE_INDEX for patch embeddings""" + if labels is not None: + projected_patch_labels = torch.full( + (projected_patch_embeddings.shape[0], projected_patch_embeddings.shape[1]), + fill_value=IGNORE_INDEX, + dtype=labels.dtype, + device=labels.device, + ) + return torch.cat([labels[:, :1], projected_patch_labels, labels[:, 1:]], dim=1) + return None + + # === Core Prismatic VLM `forward()` Logic === + def forward( + self, + input_ids: Optional[torch.LongTensor] = None, + attention_mask: Optional[torch.Tensor] = None, + pixel_values: Optional[torch.FloatTensor] = None, + labels: Optional[torch.LongTensor] = None, + inputs_embeds: Optional[torch.FloatTensor] = None, + past_key_values: Optional[List[torch.FloatTensor]] = None, + use_cache: Optional[bool] = None, + output_attentions: Optional[bool] = None, + output_hidden_states: Optional[bool] = None, + output_projector_features: Optional[bool] = None, + return_dict: Optional[bool] = None, + proprio=None, + proprio_projector=None, + noisy_actions=None, + noisy_action_projector=None, + diffusion_timestep_embeddings=None, + use_film: bool = False, + ) -> Union[Tuple, PrismaticCausalLMOutputWithPast]: + """Run a forward pass through the VLM, returning a PrismaticCausalLMOutputWithPast instance.""" + output_attentions = output_attentions if output_attentions is not None else self.config.output_attentions + output_hidden_states = ( + output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states + ) + output_projector_features = output_projector_features if output_projector_features is not None else False + return_dict = return_dict if return_dict is not None else self.config.use_return_dict + + # Respect `use_cache` only if not training (even if `gradient_checkpointing` is off) + use_cache = use_cache and not self.training + + # Instantiate Placeholder for Projector Features + projected_patch_embeddings = None + + # === Handle Generation with Cache (`input_ids.shape[1] == 1`) =>> requires `past_keys_values` === + if input_ids.shape[1] == 1: + assert input_ids.shape[0] == 1, "Generation is only currently supported for batch size of 1!" + assert past_key_values is not None, "You must provide `past_key_values` during cached generation!" + assert labels is None, "Unexpected key `labels` provided during cached generation!" + + language_model_output = self.language_model( + input_ids=input_ids, + attention_mask=None, + position_ids=None, + past_key_values=past_key_values, + inputs_embeds=None, + labels=None, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + + # === Handle Unimodal Forward === + elif pixel_values is None: + assert (input_ids is not None) and (inputs_embeds is None), "Missing `input_ids` in language-only forward!" + assert past_key_values is None, "Unexpected key `past_key_values` provided during language-only forward!" + + language_model_output = self.language_model( + input_ids=input_ids, + attention_mask=attention_mask, + position_ids=None, + past_key_values=None, + inputs_embeds=None, + labels=labels, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + + # === Handle Multimodal Forward === + elif (input_ids.shape[0] == pixel_values.shape[0]) or (inputs_embeds.shape[0] == pixel_values.shape[0]): + assert past_key_values is None, "Unexpected key `past_key_values` provided during multimodal forward!" + + # Get input embeddings (from language model embeddings) + input_embeddings = self.get_input_embeddings()(input_ids) # (B, seq_len, D) + + + # 首帧规划分支只提取多模态特征，不携带动作标签。此时没有动作 + # token 需要替换，使用全 False mask，避免对 None 调用动作标签解析。 + if labels is None: + all_actions_mask = torch.zeros_like(input_ids, dtype=torch.bool) + else: + all_actions_mask = self._process_action_masks(labels) + + # Extract the language portion of the input embeddings (i.e. remove the action tokens portion) + + # print(input_embeddings[~all_actions_mask].size()) + language_embeddings = input_embeddings[~all_actions_mask].reshape( + input_embeddings.shape[0], -1, input_embeddings.shape[2] + ) # (B, lang_seq_len, llm_dim) + + # Get visual features + projected_patch_embeddings = self._process_vision_features(pixel_values, language_embeddings, use_film) + + # 仅动作训练样本包含动作 token；首帧规划输入没有 labels，不能也无需 + # 用 action queries 替换其文本 token。 + if labels is not None: + action_queries = self.action_queries.weight # (1, h) + action_queries = action_queries.view(1, action_queries.shape[0], action_queries.shape[1]).repeat(input_embeddings.shape[0], 1, 1) # (b, chunk_size, h) + input_embeddings = self._replace_input_embeddings( + input_embeddings, all_actions_mask, action_queries) + + # Build multimodal embeddings & attention mask + multimodal_embeddings, multimodal_attention_mask = self._build_multimodal_attention( + input_embeddings, projected_patch_embeddings, attention_mask + ) + + # Build labels for multimodal sequence if needed + multimodal_labels = self._build_multimodal_labels(labels, projected_patch_embeddings) + + # Dispatch to language model + language_model_output = self.language_model( + input_ids=None, + attention_mask=multimodal_attention_mask, + position_ids=None, + past_key_values=None, + inputs_embeds=multimodal_embeddings, + labels=None, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + + # === Otherwise =>> Assume Invalid! === + elif (input_ids.shape[0] != pixel_values.shape[0]) or (inputs_embeds.shape[0] != pixel_values.shape[0]): + raise ValueError("Non-homogenous batch of (text, image) input -- forward() does not support mixed batches!") + + else: + raise ValueError( + "Invalid PrismaticForConditionalGeneration `forward()` call with provided arguments:\n" + f"=> `input_ids` = {input_ids is not None}\n" + f"=> `attention_mask` = {attention_mask is not None}\n" + f"=> `pixel_values` = {pixel_values is not None}\n" + f"=> `labels` = {labels is not None}\n" + f"=> `input_embeds` = {inputs_embeds is not None}\n" + f"=> `past_key_values` = {past_key_values is not None}\n" + f"=> `use_cache` = {use_cache}" + ) + + # Unpack `language_model_output` and return PrismaticCausalLMOutputWithPast (or tuple if not `return_dict`) + if not return_dict: + if output_projector_features and (projected_patch_embeddings is not None): + return *language_model_output, projected_patch_embeddings + + return language_model_output + + return PrismaticCausalLMOutputWithPast( + loss=language_model_output.loss, + past_key_values=language_model_output.past_key_values, + hidden_states=language_model_output.hidden_states, + attentions=language_model_output.attentions, + projector_features=projected_patch_embeddings, + ) + + + # === GenerationMixin Methods === + def prepare_inputs_for_generation( + self, + input_ids: Optional[torch.Tensor] = None, + past_key_values: Optional[List[torch.FloatTensor]] = None, + inputs_embeds: Optional[torch.FloatTensor] = None, + pixel_values: Optional[torch.FloatTensor] = None, + attention_mask: Optional[torch.Tensor] = None, + **kwargs: str, + ) -> Dict[str, torch.Tensor]: + """Borrowed from `LlamaForCausalLM` and simplified for batch size = 1; mirrors original PrismaticVLM logic.""" + if ((input_ids is not None) and (input_ids.shape[0] > 1)) or ( + (inputs_embeds is not None) and (inputs_embeds.shape[0] > 1) + ): + raise ValueError("Generation with batch size > 1 is not currently supported!") + + # Handle `past_key_values` (cache) =>> assume `input_ids` just has unprocessed tokens + if past_key_values is not None: + input_ids = input_ids[:, -1:] + + # If `input_embeds` are passed, we only want to use them in the 1st generation step + if inputs_embeds is not None and past_key_values is None: + model_inputs = {"input_embeds": inputs_embeds} + else: + model_inputs = {"input_ids": input_ids} + + # Make sure `pixel_values` are preserved in `model_inputs` + model_inputs.update( + { + "attention_mask": attention_mask, + "pixel_values": pixel_values, + "past_key_values": past_key_values, + "use_cache": kwargs.get("use_cache"), + } + ) + + return model_inputs + + # Defer to Language Model (all handle this differently, with different return types) + def _reorder_cache(self, *args, **kwargs) -> Any: + return self.language_model._reorder_cache(*args, **kwargs) + + + +class OpenVLAForActionPrediction(PrismaticForConditionalGeneration): + config_class: PretrainedConfig = OpenVLAConfig + + def __init__(self, config: OpenVLAConfig) -> None: + super().__init__(config) + self.norm_stats = config.norm_stats + + + # Compute action bins + self.bins = np.linspace(-1, 1, config.n_action_bins) + self.bin_centers = (self.bins[:-1] + self.bins[1:]) / 2.0 + + # Compute vocab size for de-tokenization -- revert added "multiple of" + self.vocab_size = self.config.text_config.vocab_size - self.config.pad_to_multiple_of + + def _prepare_input_for_action_prediction(self, input_ids, attention_mask): + """Prepares input for action prediction by adding necessary tokens""" + # Add (ACTION_DIM * NUM_ACTIONS_CHUNK) placeholder tokens to input_ids to simulate action tokens + placeholder_action_token_ids = ( + torch.ones((input_ids.shape[0], NUM_TOKENS)).to(input_ids.device).to(input_ids.dtype) + ) + input_ids = torch.cat([input_ids, placeholder_action_token_ids], dim=-1) + + # Add stop token to sequence (needed in non-causal bi-directional self-attention, as it appears at train time) + stop_token_id = torch.ones((input_ids.shape[0], 1)).to(input_ids.device).to(input_ids.dtype) * STOP_INDEX + input_ids = torch.cat([input_ids, stop_token_id], dim=-1) + + # Extend the attention mask to fit the new shape of input + # Note: Only batch size == 1 supported right now + mask_extension = ( + torch.ones((attention_mask.shape[0], input_ids.shape[-1] - attention_mask.shape[-1])) + .to(attention_mask.device) + .to(attention_mask.dtype) + ) + attention_mask = torch.cat([attention_mask, mask_extension], dim=-1) + + return input_ids, attention_mask + + def _prepare_labels_for_action_prediction(self, labels, input_ids): + """Creates labels tensor for action prediction if not provided""" + # Extend labels tensor with fake action labels + ARBITRARY_ACTION_TOKEN_IDX = ACTION_TOKEN_BEGIN_IDX + 1 + labels_extension = ( + torch.ones((labels.shape[0], input_ids.shape[-1] - labels.shape[-1])).to(labels.device).to(labels.dtype) + * ARBITRARY_ACTION_TOKEN_IDX + ) + labels = torch.cat([labels, labels_extension], dim=-1) + + # Replace last label token with stop token + labels[:, -1] = STOP_INDEX + + return labels + + def _unnormalize_actions(self, normalized_actions, unnorm_key=None): + """Unnormalize actions using dataset statistics""" + action_norm_stats = self.get_action_stats(unnorm_key) + + if ACTION_PROPRIO_NORMALIZATION_TYPE == NormalizationType.BOUNDS: + mask = action_norm_stats.get("mask", np.ones_like(action_norm_stats["min"], dtype=bool)) + action_high, action_low = np.array(action_norm_stats["max"]), np.array(action_norm_stats["min"]) + elif ACTION_PROPRIO_NORMALIZATION_TYPE == NormalizationType.BOUNDS_Q99: + mask = action_norm_stats.get("mask", np.ones_like(action_norm_stats["q01"], dtype=bool)) + action_high, action_low = np.array(action_norm_stats["q99"]), np.array(action_norm_stats["q01"]) + else: + raise ValueError("Unsupported action/proprio normalization type detected!") + + actions = np.where( + mask, + 0.5 * (normalized_actions + 1) * (action_high - action_low + 1e-8) + action_low, + normalized_actions, + ) + + return actions + + + def _regression_or_discrete_prediction( + self, + input_embeddings, + all_actions_mask, + projected_patch_embeddings, + attention_mask, + labels, + NUM_PATCHES, + NUM_PROMPT_TOKENS, + action_head=None, + flight_plan_decoder=None, + plan_hidden_states=None, + episode_memory_hidden_states=None, + proprio=None, + proprio_projector=None, + ): + """Run L1 regression-based continuous action prediction or discrete action tokens prediction.""" + + action_queries = self.action_queries.weight # (1, h) + action_queries = action_queries.view(1, action_queries.shape[0], action_queries.shape[1]).repeat(input_embeddings.shape[0], 1, 1) # (b, chunk_size, h) + # Replace action token embeddings with noisy action embeddings + input_embeddings = self._replace_input_embeddings(input_embeddings.clone(), all_actions_mask, action_queries) + + # Build multimodal embeddings and attention mask + multimodal_embeddings, multimodal_attention_mask = self._build_multimodal_attention( + input_embeddings, projected_patch_embeddings, attention_mask + ) + + # Forward pass through language model + language_model_output = self.language_model( + input_ids=None, + attention_mask=multimodal_attention_mask, + position_ids=None, + past_key_values=None, + inputs_embeds=multimodal_embeddings, + labels=None, + use_cache=None, + output_attentions=False, + output_hidden_states=True, + return_dict=True, + ) + + # Extract hidden states for action tokens + multi_layer_hidden_states = [] + + for item in language_model_output.hidden_states[0:]: + # last_hidden_states = output.hidden_states[-1] # (B, seq_len, D) + # Get hidden states for text portion of prompt+response (after the vision patches) + text_hidden_states = item + # Get hidden states for action portion of response + actions_hidden_states = text_hidden_states[:, NUM_PATCHES+ NUM_PROMPT_TOKENS : NUM_PATCHES + NUM_PROMPT_TOKENS + NUM_TOKENS, :,].reshape(1, 1, NUM_TOKENS, -1).to(torch.bfloat16) + + batch_size = item.shape[0] + task_latten_states = item[:, :NUM_PATCHES].reshape(batch_size, 1, NUM_PATCHES , -1) + all_hidden_states = torch.cat((task_latten_states, actions_hidden_states),2) + multi_layer_hidden_states.append(all_hidden_states) + + multi_layer_hidden_states = torch.cat(multi_layer_hidden_states, dim = 1) + + + # Handle different prediction methods + if action_head is not None: + # L1 regression prediction + # 推理时可传入首帧一次性生成并缓存的 latent plan；此时绝不能 + # 用当前帧重新规划，否则会与 Flight-CoT 的训练/部署设定不一致。 + if plan_hidden_states is None and flight_plan_decoder is not None: + plan_hidden_states = flight_plan_decoder( + multi_layer_hidden_states, + proprio=proprio, + proprio_projector=proprio_projector, + ) + normalized_actions = action_head.predict_action(multi_layer_hidden_states, + proprio=proprio, + proprio_projector=proprio_projector, + plan_hidden_states=plan_hidden_states, + episode_memory_hidden_states=episode_memory_hidden_states) + normalized_actions = normalized_actions.reshape(NUM_ACTIONS_CHUNK, ACTION_DIM) + normalized_actions = normalized_actions.float().cpu().detach().numpy() + else: + # Discrete token-based prediction + predicted_action_token_ids = ( + language_model_output.logits[ + :, + NUM_PATCHES + NUM_PROMPT_TOKENS : NUM_PATCHES + NUM_PROMPT_TOKENS + ACTION_DIM * NUM_ACTIONS_CHUNK, + ] + .argmax(dim=2) + .cpu() + .numpy() + ) + discretized_actions = self.vocab_size - predicted_action_token_ids + discretized_actions = np.clip(discretized_actions - 1, a_min=0, a_max=self.bin_centers.shape[0] - 1) + normalized_actions = self.bin_centers[discretized_actions] + normalized_actions = normalized_actions.reshape(NUM_ACTIONS_CHUNK, ACTION_DIM) + + return normalized_actions, actions_hidden_states + + + def predict_action( + self, + input_ids: Optional[torch.LongTensor] = None, + unnorm_key: Optional[str] = None, + proprio=None, + proprio_projector=None, + action_head=None, + flight_plan_decoder=None, + plan_hidden_states=None, + episode_memory_hidden_states=None, + noisy_action_projector=None, + use_film: bool = False, + **kwargs: str, + ) -> np.ndarray: + """Predict actions from input sequence, with options for different prediction methods. + + Args: + input_ids: Input token ids + unnorm_key: Key for unnormalization statistics + proprio: Proprioceptive features + proprio_projector: Projector for proprioceptive features + action_head: Optional head for L1 regression or diffusion-based prediction + noisy_action_projector: Projector for noisy actions in diffusion-based prediction + use_film: Whether to use FiLM conditioning + **kwargs: Additional arguments including pixel_values and attention_mask + + Returns: + Tuple of (unnormalized_actions, action_hidden_states) + """ + + pixel_values = kwargs["pixel_values"] # [1, 12, 224, 224] + attention_mask = kwargs["attention_mask"] # + + # Create fake labels tensor (needed for action mask) + labels = input_ids.clone() + labels[:] = IGNORE_INDEX + + # Get number of tokens in prompt (excluding the start token) + NUM_PROMPT_TOKENS = input_ids.shape[-1] - 1 # Subtract action tokens and stop token + + # Prepare inputs by adding necessary tokens + input_ids, attention_mask = self._prepare_input_for_action_prediction(input_ids, attention_mask) + + # Update labels tensor for action mask computation later + labels = self._prepare_labels_for_action_prediction(labels, input_ids) + + # Get input embeddings and action masks + input_embeddings = self.get_input_embeddings()(input_ids) + all_actions_mask = self._process_action_masks(labels) + + # Extract language embeddings + language_embeddings = input_embeddings[~all_actions_mask].reshape( + input_embeddings.shape[0], -1, input_embeddings.shape[2] + ) + + # Process vision features + projected_patch_embeddings = self._process_vision_features(pixel_values, language_embeddings, use_film) + + # Add proprioceptive features if provided + use_proprio = proprio_projector is not None and proprio is not None + if use_proprio: + proprio = torch.Tensor(proprio).to(projected_patch_embeddings.device, dtype=projected_patch_embeddings.dtype) + + # Calculate number of patches (including proprio token and/or diffusion timestep embedding if present) + NUM_PATCHES = self.vision_backbone.get_num_patches() * self.vision_backbone.get_num_images_in_input() + + # Run regression or discrete token-based prediction + normalized_actions, actions_hidden_states = self._regression_or_discrete_prediction( + input_embeddings, + all_actions_mask, + projected_patch_embeddings, + attention_mask, + labels, + NUM_PATCHES, + NUM_PROMPT_TOKENS, + action_head=action_head, + flight_plan_decoder=flight_plan_decoder, + plan_hidden_states=plan_hidden_states, + episode_memory_hidden_states=episode_memory_hidden_states, + proprio=proprio, # [8] + proprio_projector=proprio_projector, + ) + + # Unnormalize predicted actions + actions = self._unnormalize_actions(normalized_actions, unnorm_key) + + return actions, actions_hidden_states + + + + @staticmethod + def _check_unnorm_key(norm_stats: Dict[str, Dict[str, Any]], unnorm_key: Optional[str]) -> str: + """Validate and resolve the unnormalization key for action statistics""" + if unnorm_key is None: + assert len(norm_stats) == 1, ( + f"Your model was trained on more than one dataset, " + f"please pass a `unnorm_key` from the following options to choose the statistics " + f"used for un-normalizing actions: {norm_stats.keys()}" + ) + unnorm_key = next(iter(norm_stats.keys())) + + assert unnorm_key in norm_stats, ( + f"The `unnorm_key` you chose is not in the set of available dataset statistics, " + f"please choose from: {norm_stats.keys()}" + ) + return unnorm_key + + def get_action_dim(self, unnorm_key: Optional[str] = None) -> int: + """Get the dimensionality of the policy's action space.""" + unnorm_key = self._check_unnorm_key(self.norm_stats, unnorm_key) + return len(self.norm_stats[unnorm_key]["action"]["min"]) + + def get_action_stats(self, unnorm_key: Optional[str] = None) -> Dict[str, Any]: + """Get all the logged statistics for the given dataset.""" + unnorm_key = self._check_unnorm_key(self.norm_stats, unnorm_key) + return self.norm_stats[unnorm_key]["action"] diff --git a/VLA-Adapter-UAV/prismatic/extern/hf/processing_prismatic.py b/VLA-Adapter-UAV/prismatic/extern/hf/processing_prismatic.py new file mode 100644 index 0000000000000000000000000000000000000000..c7ae121b87a8aa76ee63ea2cde9a033d264f4d06 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/extern/hf/processing_prismatic.py @@ -0,0 +1,252 @@ +""" +processing_prismatic.py + +HuggingFace-style preprocessor definitions for Prismatic VLMs, inheriting from `ProcessorMixin`. Default configuration +specifies `siglip-224px+7b`. +""" + +from typing import Any, ClassVar, List, Optional, Tuple, Union + +import timm.data +import torch +import torchvision.transforms.functional as TVF +from PIL import Image +from torchvision.transforms import CenterCrop, Compose, Normalize, Resize, ToTensor +from transformers import PreTrainedTokenizerBase +from transformers.image_processing_utils import BatchFeature, ImageProcessingMixin +from transformers.processing_utils import ProcessorMixin +from transformers.tokenization_utils import PaddingStrategy, PreTokenizedInput, TextInput, TruncationStrategy +from transformers.utils import TensorType + + +# === Image Processing === +def letterbox_pad_transform(image: Image.Image, padding_fill_value: Tuple[int, int, int]) -> Image.Image: + """Given a PIL.Image, pad to square by adding a symmetric border around the height/width.""" + (w, h), max_wh = image.size, max(image.size) + horizontal_pad, vertical_pad = int((max_wh - w) / 2), int((max_wh - h) / 2) + padding = (horizontal_pad, vertical_pad, horizontal_pad, vertical_pad) + + return TVF.pad(image, padding, fill=padding_fill_value, padding_mode="constant") + + +class PrismaticImageProcessor(ImageProcessingMixin): + model_input_names: ClassVar[List[str]] = ["pixel_values"] + + def __init__( + self, + use_fused_vision_backbone: bool = False, + image_resize_strategy: str = "letterbox", + input_sizes: Optional[List[Tuple[int, int, int]]] = None, + interpolations: Optional[List[str]] = None, + means: Optional[List[Tuple[float, float, float]]] = None, + stds: Optional[List[Tuple[float, float, float]]] = None, + **kwargs: str, + ) -> None: + """ + Initialize a PrismaticImageProcessor as a wrapper around a torchvision transform; this transform will be + created by TIMM, and edited to follow our custom `image_resize_strategy` logic. + @param use_fused_vision_backbone: Boolean indicating single or fused (dual) vision backbone + @param image_resize_strategy: Prismatic image resize strategy in < resize-naive | resize-crop | letterbox > + @param input_size: [TIMM :: `data_cfg`] Input image size as tuple (channels, width, height) + @param interpolation: [TIMM :: `data_cfg`] Interpolation as string (default: "bicubic") + @param mean: [TIMM :: `data_cfg`] Normalization mean as float tuple (or two-tuple if `fused_backbone`) + @param std: [TIMM :: `data_cfg`] Normalization std as float tuple (or two-tuple if `fused_backbone`) + """ + self.use_fused_vision_backbone = use_fused_vision_backbone + self.image_resize_strategy = image_resize_strategy + + # Handle `None` default values + input_sizes = [(3, 224, 224)] if input_sizes is None else input_sizes + means = [(0.5, 0.5, 0.5)] if means is None else means + stds = [(0.5, 0.5, 0.5)] if stds is None else stds + + # TIMM `data_cfg` Parameters + self.input_sizes, self.interpolations, self.means, self.stds = input_sizes, interpolations, means, stds + + # Grab torchvision transforms via TIMM =>> need to parse for specific "functional" transform values! + self.tvf_resize_params, self.tvf_crop_params, self.tvf_normalize_params = [], [], [] + self.tvf_do_letterbox, self.tvf_letterbox_fill = False, None + + for idx in range(len(input_sizes)): + transform = timm.data.create_transform( + input_size=self.input_sizes[idx], + interpolation=self.interpolations[idx], + mean=self.means[idx], + std=self.stds[idx], + crop_pct=1.0, # Set to 1.0 to ignore cropping (initial Resize sets `input_size`) + crop_mode="center", # Default crop mode -- no-op when `crop_pct == 1.0` + is_training=False, # No image augmentations when loading the transform! + ) + + # [Validation] Ensure appropriate transform structure, expected sizes + if not ( + isinstance(transform, Compose) + and (len(transform.transforms) == 4) + and isinstance(transform.transforms[0], Resize) + and isinstance(transform.transforms[1], CenterCrop) + and isinstance(transform.transforms[2], ToTensor) + and isinstance(transform.transforms[3], Normalize) + and (transform.transforms[0].size == self.input_sizes[idx][-1]) + and (transform.transforms[1].size == self.input_sizes[idx][-2:]) + ): + raise ValueError(f"Unexpected TIMM image transformation structure/sizes: `{transform}`") + + # HF Image Processors *must* be JSON-serializable; as such, cannot have torchvision. as an attribute. + # => Instead, we're going to parse the transform and call "torchvision.transforms.functional" (`tvf`) + resize_t, crop_t, norm_t = transform.transforms[0], transform.transforms[1], transform.transforms[3] + self.tvf_resize_params.append( + { + "size": resize_t.size, + "interpolation": TVF.pil_modes_mapping[resize_t.interpolation], + "max_size": None, + "antialias": True, + } + ) + self.tvf_crop_params.append({"output_size": crop_t.size}) + self.tvf_normalize_params.append( + { + "mean": norm_t.mean.float().numpy().tolist(), + "std": norm_t.std.float().numpy().tolist(), + "inplace": False, + } + ) + self.tvf_do_letterbox, self.tvf_letterbox_fill = False, None + + # Handle Prismatic `image_resize_strategy` + if self.image_resize_strategy == "resize-naive": + self.tvf_resize_params[idx]["size"] = (resize_t.size, resize_t.size) + elif self.image_resize_strategy == "letterbox": + self.tvf_do_letterbox, self.tvf_letterbox_fill = True, tuple([int(x * 255) for x in self.means[idx]]) + elif self.image_resize_strategy == "resize-crop": + pass + else: + raise ValueError(f"Image resize strategy `{self.image_resize_strategy}` is not supported!") + + # Dispatch **kwargs to super() + super().__init__(**kwargs) + + def apply_transform(self, img: Image.Image) -> torch.Tensor: + """Apply `functional` variant of TIMM's Transform = Compose([Resize -> CenterCrop -> ToTensor -> Normalize])""" + if self.tvf_do_letterbox: + img = letterbox_pad_transform(img, self.tvf_letterbox_fill) + + # [Contract] Fused Backbones expect "channel-stacked" inputs; we'll unpack on the model side! + imgs_t = [] + for idx in range(len(self.input_sizes)): + img_idx = TVF.resize(img, **self.tvf_resize_params[idx]) + img_idx = TVF.center_crop(img_idx, **self.tvf_crop_params[idx]) + img_idx_t = TVF.to_tensor(img_idx) + img_idx_t = TVF.normalize(img_idx_t, **self.tvf_normalize_params[idx]) + imgs_t.append(img_idx_t) + + # [Contract] `imgs_t` is a list of Tensors of shape [3, input_size, input_size]; stack along dim = 0 + img_t = torch.vstack(imgs_t) + + return img_t + + def preprocess( + self, + images: Union[Image.Image, List[Image.Image]], + return_tensors: Optional[Union[str, TensorType]] = None, + **_: str, + ) -> BatchFeature: + """ + Preprocess an image (or batch of images); note that unlike the `transformers :: BaseImageProcessor` we + explicitly only handle PIL.Image.Image instances for simplicity. + @param images: A (batch of) PIL.Image.Image instance(s) to preprocess. + @param return_tensors: BatchFeature default Tensor format (e.g., "pt" for torch); if None, returns np.ndarray + @return: Instance of `transformers :: BatchFeature` with a single key "pixel_values" + """ + if not isinstance(images, list): + images = [images] + + # Apply `self.img_transform` to each image (will return list of torch.Tensors); stack into "batched" Tensor + pixel_values = torch.stack([self.apply_transform(img.convert("RGB")) for img in images]) + + # Return BatchFeature =>> note that for compatibility, constructor expects Dict[str, np.ndarray], so we convert + return BatchFeature(data={"pixel_values": pixel_values.float().numpy()}, tensor_type=return_tensors) + + def __call__(self, images: Union[Image.Image, List[Image.Image]], **kwargs) -> BatchFeature: + return self.preprocess(images, **kwargs) + + +# === PrismaticProcessor =>> Wraps both ImageProcessor and Tokenizer === +# =>> https://github.com/huggingface/transformers/blob/main/src/transformers/models/llava/processing_llava.py +class PrismaticProcessor(ProcessorMixin): + attributes: ClassVar[List[str]] = ["image_processor", "tokenizer"] + image_processor_class: str = "AutoImageProcessor" + tokenizer_class: str = "AutoTokenizer" + + def __init__( + self, + image_processor: Optional[ImageProcessingMixin] = None, + tokenizer: Optional[PreTrainedTokenizerBase] = None, + ) -> None: + super().__init__(image_processor, tokenizer) + + def __call__( + self, + text: Union[TextInput, PreTokenizedInput, List[TextInput], List[PreTokenizedInput]], + images: Union[Image.Image, List[Image.Image]], + padding: Union[bool, str, PaddingStrategy] = False, + truncation: Optional[Union[bool, str, TruncationStrategy]] = None, + max_length: Optional[int] = None, + return_tensors: Optional[Union[str, TensorType]] = TensorType.PYTORCH, + ) -> BatchFeature: + """ + Preprocess a given (batch) of text/images for a Prismatic VLM; forwards text to the underlying LLM's tokenizer, + forwards images to PrismaticImageProcessor. + @param text: The (batch) of text to encode; must be a string or list of strings. + @param images: A (batch of) PIL.Image.Image instance(s) to preprocess. + @param padding: Sequence padding strategy (if multiple specified) in < True = "longest" | "max_length" | False > + @param truncation: Truncation strategy for the output sequences; requires `max_length` to be specified + @param max_length: Maximum length (in tokens) to truncate + @param return_tensors: Type of return tensors (usually "pt" or TensorType.PYTORCH) + @return: BatchFeature with keys for `input_ids`, `attention_mask` and `pixel_values`. + """ + pixel_values = self.image_processor(images, return_tensors=return_tensors)["pixel_values"] + text_inputs = self.tokenizer( + text, return_tensors=return_tensors, padding=padding, truncation=truncation, max_length=max_length + ) + + # [Validate] Need same number of images and text inputs! + if pixel_values.shape[0] != text_inputs.input_ids.shape[0]: + raise ValueError("Batch is malformed; expected same number of images and text inputs!") + + return BatchFeature(data={**text_inputs, "pixel_values": pixel_values}) + + # === Tokenizer Dispatch Utilities =>> check `PreTrainedTokenizerBase` for documentation === + def batch_decode( + self, + sequences: Union[List[int], List[List[int]], torch.Tensor, Any], # `Any` = np.ndarray | tf.Tensor + skip_special_tokens: bool = False, + clean_up_tokenization_spaces: Optional[bool] = None, + **kwargs: str, + ) -> List[str]: + return self.tokenizer.batch_decode( + sequences=sequences, + skip_special_tokens=skip_special_tokens, + clean_up_tokenization_spaces=clean_up_tokenization_spaces, + **kwargs, + ) + + def decode( + self, + token_ids: Union[int, List[int], torch.Tensor, Any], # `Any` = np.ndarray | tf.Tensor + skip_special_tokens: bool = False, + clean_up_tokenization_spaces: Optional[bool] = None, + **kwargs: str, + ) -> str: + return self.tokenizer.decode( + token_ids=token_ids, + skip_special_tokens=skip_special_tokens, + clean_up_tokenization_spaces=clean_up_tokenization_spaces, + **kwargs, + ) + + @property + def model_input_names(self) -> List[str]: + tokenizer_input_names = self.tokenizer.model_input_names + image_processor_input_names = self.image_processor.model_input_names + + return list(dict.fromkeys(tokenizer_input_names + image_processor_input_names)) diff --git a/VLA-Adapter-UAV/prismatic/models/__init__.py b/VLA-Adapter-UAV/prismatic/models/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..073c620e0e23c09e05ac0a4877458777fc981f22 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/__init__.py @@ -0,0 +1,2 @@ +from .load import available_model_names, available_models, get_model_description, load, load_vla +from .materialize import get_llm_backbone_and_tokenizer, get_vision_backbone_and_transform, get_vlm diff --git a/VLA-Adapter-UAV/prismatic/models/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/models/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..6fc65dce63de7695236c107b242aad626a904813 Binary files /dev/null and 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+ + +class L1RegressionActionHead(nn.Module): + """Simple MLP-based action head that generates continuous actions via L1 regression.""" + def __init__( + self, + input_dim=4096, + hidden_dim=4096, + action_dim=7, + num_task_tokens=512, + use_pro_version=False, + ): + super().__init__() + self.num_task_tokens = num_task_tokens + self.action_dim = action_dim + self.hidden_dim = hidden_dim + self.model = MLPResNet( + num_blocks=24, + input_dim=input_dim*ACTION_DIM, + hidden_dim=hidden_dim, + output_dim=action_dim, + use_pro_version=use_pro_version + ) + + def predict_action( + self, + actions_hidden_states, + proprio=None, + proprio_projector=None, + plan_hidden_states=None, + episode_memory_hidden_states=None, + phase="Inference" + ): + batch_size = actions_hidden_states.shape[0] + device = actions_hidden_states.device + model_dtype = next(self.model.parameters()).dtype + actions_hidden_states = actions_hidden_states.to(model_dtype) + + projector_dtype = next(proprio_projector.parameters()).dtype + # 双图像训练时 proprio 为 [首帧状态, 当前状态]；动作头只使用当前状态。 + if proprio.ndim == 3: + proprio = proprio[:, -1] + proprio = proprio.reshape(batch_size, -1).to(device=device, dtype=projector_dtype) + proprio_features = proprio_projector(proprio).to(dtype=model_dtype) # (bsz, llm_dim) + proprio_features = proprio_features.unsqueeze(dim=1) # (bsz, 1, llm_dim) + + task_hidden_states = actions_hidden_states[:, :, :self.num_task_tokens, :] + actions_hidden_states = actions_hidden_states[:, :, self.num_task_tokens:, :] + + # FlightPlanDecoder returns compact task-level tokens. Appending them to + # the existing task context preserves the original decoder exactly when + # no plan branch is enabled, while allowing every action block to attend + # to the cached plan when it is available. + if plan_hidden_states is not None: + plan_hidden_states = plan_hidden_states.to(dtype=model_dtype) + plan_hidden_states = plan_hidden_states.unsqueeze(1).expand(-1, task_hidden_states.shape[1], -1, -1) + task_hidden_states = torch.cat((task_hidden_states, plan_hidden_states), dim=2) + + if episode_memory_hidden_states is not None: + episode_memory_hidden_states = episode_memory_hidden_states.to(dtype=model_dtype) + episode_memory_hidden_states = episode_memory_hidden_states.unsqueeze(1).expand( + -1, task_hidden_states.shape[1], -1, -1 + ) + + cond_actions_hidden_states = torch.zeros( + (batch_size, self.action_dim * NUM_ACTIONS_CHUNK, self.hidden_dim), + device=device, dtype=actions_hidden_states.dtype + ).detach() + + rearranged_actions_hidden_states = cond_actions_hidden_states.reshape( + batch_size, NUM_ACTIONS_CHUNK, -1 + ) # (batch, chunk_len, action_dim * hidden_dim) + + action = self.model( + rearranged_actions_hidden_states, + h_a=actions_hidden_states, + p=proprio_features, + h_t=task_hidden_states, + h_m=episode_memory_hidden_states, + ) + + return action + + +class MLPResNet(nn.Module): + """MLP with residual connection blocks.""" + def __init__( + self, + num_blocks, + input_dim, + hidden_dim, + output_dim, + use_pro_version=False + ): + + super().__init__() + self.layer_norm1 = nn.LayerNorm(input_dim) + self.fc1 = nn.Linear(input_dim, hidden_dim) + self.relu = nn.ReLU() + self.mlp_resnet_blocks = nn.ModuleList() + + for _ in range(num_blocks): + if use_pro_version: + self.mlp_resnet_blocks.append(MLPResNetBlock_Pro(dim=hidden_dim)) + else: + self.mlp_resnet_blocks.append(MLPResNetBlock(dim=hidden_dim)) + + self.layer_norm2 = nn.LayerNorm(hidden_dim) + self.fc2 = nn.Linear(hidden_dim, output_dim) + + + def forward(self, x, h_a=None, h_t=None, h_m=None, p=None): + + # x: (batch_size, input_dim) + x = self.layer_norm1(x) # shape: (batch_size, input_dim) + x = self.fc1(x) # shape: (batch_size, hidden_dim) + x = self.relu(x) # shape: (batch_size, hidden_dim) + for i, block in enumerate(self.mlp_resnet_blocks): + memory = h_m[:, i + 1, :] if h_m is not None else None + x = block(x, h_t=h_t[:, i + 1, :], h_a=h_a[:, i + 1, :], h_m=memory, p=p) + x = self.layer_norm2(x) # shape: (batch_size, hidden_dim) + x = self.fc2(x) # shape: (batch_size, output_dim) + return x + + + +def apply_rope(q, k, cos, sin): + """ + RoPE: + q, k: (B, H, T, D) # D must be an even number + cos/sin: (T, D) + """ + cos = cos.unsqueeze(0).unsqueeze(0) # (1, 1, T, D) + sin = sin.unsqueeze(0).unsqueeze(0) + + + def rotate_half(x): + # Swap even and odd dimensions and flip the signs + x1 = x[..., ::2] # Even subdimension + x2 = x[..., 1::2] # odd subdimension + + return torch.stack((-x2, x1), dim=-1).reshape_as(x) + + + q_rot = (q * cos) + (rotate_half(q) * sin) + k_rot = (k * cos) + (rotate_half(k) * sin) + + return q_rot, k_rot + + + +class RotaryPositionEmbedding(nn.Module): + def __init__(self, dim, base=10000): + """ + dim = head_dim + """ + super().__init__() + assert dim % 2 == 0, "RoPE head_dim must be an even number" + inv_freq = 1.0 / (base ** (torch.arange(0, dim, 2).float() / dim)) + self.register_buffer("inv_freq", inv_freq, persistent=False) + + def forward(self, seq_len, device, dtype): + t = torch.arange(seq_len, device=device, dtype=self.inv_freq.dtype) + freqs = torch.einsum("i,j->ij", t, self.inv_freq) # (T, dim/2) + emb = torch.cat([freqs, freqs], dim=-1) # (T, dim) + return emb.cos().to(dtype), emb.sin().to(dtype) + + + +class MLPResNetBlock(nn.Module): + """ + One residual MLP block with cross-attention conditioning. + + This block applies multi-head attention over: + - token features (self-attention), + - task-related hidden states (h_t), + - action/proprioception-related hidden states (h_a, p). + The outputs are combined via a gating mechanism, projected back to the + hidden dimension, and passed through a small feedforward sub-network with + residual connection. + + Args: + dim (int): Dimensionality of the hidden features. Must be divisible by num_heads. + + Inputs: + x (torch.Tensor): Input tensor of shape (batch_size, seq_len, hidden_dim). + h_t (torch.Tensor, optional): Task-related hidden states of shape + (batch_size, K, hidden_dim). + h_a (torch.Tensor, optional): Action-related hidden states of shape + (batch_size, 1, hidden_dim). + p (torch.Tensor, optional): Additional conditioning features + (e.g., proprioception), shape (batch_size, 1, hidden_dim). + + Returns: + torch.Tensor: Output tensor of shape (batch_size, seq_len, hidden_dim). + """ + def __init__(self, dim): + super().__init__() + self.dim = dim + + # Main feedforward network + self.ffn = nn.Sequential( + nn.LayerNorm(dim), + nn.Linear(dim, dim), + nn.ReLU(), + ) + + self.num_heads = 8 + self.head_dim = dim // self.num_heads + + self.q_proj = nn.Linear(dim, dim) + self.k_proj = nn.Linear(dim, dim) + self.v_proj = nn.Linear(dim, dim) + self.o_proj = nn.Linear(dim, dim) + + self.gating_factor = nn.Parameter(torch.zeros(1)) + + + + def forward(self, x, h_t=None, h_a=None, h_m=None, p=None): + """ + x: (batch_size, seq_len, hidden_dim) + h, t, p: (batch_size, 1, hidden_dim) or None + """ + + g = self.gating_factor + ratio_g = nn.Tanh()(g) + + conditions = [] + if h_a is not None: + conditions.append(h_a) + if p is not None: + conditions.append(p) + + h = torch.cat(conditions, dim=1) # (batch_size, cond_len, hidden_dim) + + B = x.size(0) + T = x.size(1) + C = x.size(2) + K_t = h.size(1) + K = h_t.size(1) + K_m = h_m.size(1) if h_m is not None else 0 + + task_k = h + task_v = h + + adapter_k = h_t + adapter_v = h_t + + q_1 = self.q_proj(x) # (B, T, C) + k_tokens = self.k_proj(x) # (B, T, C) + v_tokens = self.v_proj(x) # (B, T, C) + k_task = self.k_proj(task_k) # (B, K, C) + v_task = self.v_proj(task_v) # (B, K, C) + + k_adapter = self.k_proj(adapter_k) # (B, K, C) + v_adapter = self.v_proj(adapter_v) # (B, K, C) + + # (B, seq_len, C) -> (B, num_heads, seq_len, head_dim) + q_1 = q_1.view(B, T, self.num_heads, self.head_dim).transpose(1, 2) + + k_tokens = k_tokens.view(B, T, self.num_heads, self.head_dim).transpose(1, 2) + v_tokens = v_tokens.view(B, T, self.num_heads, self.head_dim).transpose(1, 2) + k_task = k_task.view(B, K_t, self.num_heads, self.head_dim).transpose(1, 2) + v_task = v_task.view(B, K_t, self.num_heads, self.head_dim).transpose(1, 2) + + k_adapter = k_adapter.view(B, K, self.num_heads, self.head_dim).transpose(1, 2) + v_adapter = v_adapter.view(B, K, self.num_heads, self.head_dim).transpose(1, 2) + + attn_scores_tokens = torch.matmul(q_1, k_tokens.transpose(-2, -1)) # (B, H, T, T) + attn_scores_task = torch.matmul(q_1, k_task.transpose(-2, -1)) * 1 # (B, H, T, K) + attn_scores_adapter = torch.matmul(q_1, k_adapter.transpose(-2, -1)) * ratio_g # (B, H, T, K) + + score_parts = [attn_scores_tokens, attn_scores_task, attn_scores_adapter] + value_parts = [v_tokens, v_task, v_adapter] + if h_m is not None: + k_memory = self.k_proj(h_m).view(B, K_m, self.num_heads, self.head_dim).transpose(1, 2) + v_memory = self.v_proj(h_m).view(B, K_m, self.num_heads, self.head_dim).transpose(1, 2) + score_parts.append(torch.matmul(q_1, k_memory.transpose(-2, -1))) + value_parts.append(v_memory) + attn_scores = torch.cat(score_parts, dim=-1) + attn_scores = attn_scores / math.sqrt(self.head_dim) + attn_weights = torch.softmax(attn_scores, dim=-1) # (B, H, T, T+K) + + v_combined = torch.cat(value_parts, dim=2) + output = torch.matmul(attn_weights, v_combined) # (B, H, T, head_dim) + + output = output.transpose(1, 2).contiguous().view(B, T, C) + output = self.o_proj(output) + + x = self.ffn(output + x) + + return x + + + +class MLPResNetBlock_Pro(nn.Module): + """One MLP ResNet block with separate projections for self, adapter, task + RoPE, now with FiLM modulation.""" + + def __init__(self, dim, num_heads=8): + super().__init__() + self.dim = dim + self.num_heads = num_heads + self.head_dim = dim // num_heads + + self.ffn = nn.Sequential( + nn.LayerNorm(dim), + nn.Linear(dim, dim), + nn.ReLU(), + ) + + # Q (from x only) + self.q_proj = nn.Linear(dim, dim) + + # Self-Attention: K, V + self.k_self = nn.Linear(dim, dim) + self.v_self = nn.Linear(dim, dim) + + # Adapter cross-attention: K, V + self.k_adapter = nn.Linear(dim, dim) + self.v_adapter = nn.Linear(dim, dim) + + # Task cross-attention: K, V + self.k_task = nn.Linear(dim, dim) + self.v_task = nn.Linear(dim, dim) + + self.o_proj = nn.Linear(dim, dim) + + # gating + self.gating_factor = nn.Parameter(torch.zeros(1)) + # 首帧记忆拥有独立通路，并以非零门控开始，避免被当前视觉 token 淹没。 + self.memory_gating_factor = nn.Parameter(torch.tensor(0.2)) + + # RoPE + self.rope = RotaryPositionEmbedding(self.head_dim) + + # ---- FiLM ---- + # FiLM is useless; to avoid conflict with chkpt, it can be kept as is for now. + self.film_gen = nn.Sequential( + nn.Linear(dim, dim * 2), # output γ and β + ) + + + def apply_film(self, x, gamma, beta): + """FiLM: per-channel modulation""" + return gamma.unsqueeze(1) * x + beta.unsqueeze(1) + + + def forward(self, x, h_a=None, h_t=None, h_m=None, p=None): + """ + h_a: adapter tokens + h_t: task tokens + p: possible conditioning vector (for FiLM) + """ + g = self.gating_factor + ratio_g = torch.tanh(g) + + # concat h_a and p + h_adapter = torch.cat((h_a, p),dim=1) + + h_task = h_t + B, T, C = x.shape + K_a = h_adapter.size(1) if h_a is not None else 0 + K_t = h_task.size(1) if h_task is not None else 0 + K_m = h_m.size(1) if h_m is not None else 0 + + # Q + q_1 = self.q_proj(x) + + # self tokens + k_tokens = self.k_self(x) + v_tokens = self.v_self(x) + + # adapter tokens + k_adapter = self.k_adapter(h_adapter) + v_adapter = self.v_adapter(h_adapter) + + # task tokens + k_task = self.k_task(h_task) + v_task = self.v_task(h_task) + if h_m is not None: + k_memory = self.k_adapter(h_m) + v_memory = self.v_adapter(h_m) + + + # reshape -> multi-head + def reshape_heads(t, B, L): + return t.view(B, L, self.num_heads, self.head_dim).transpose(1, 2) + + + q_1 = reshape_heads(q_1, B, T) + k_tokens, v_tokens = reshape_heads(k_tokens, B, T), reshape_heads(v_tokens, B, T) + k_adapter, v_adapter = reshape_heads(k_adapter, B, K_a), reshape_heads(v_adapter, B, K_a) + k_task, v_task = reshape_heads(k_task, B, K_t), reshape_heads(v_task, B, K_t) + if h_m is not None: + k_memory, v_memory = reshape_heads(k_memory, B, K_m), reshape_heads(v_memory, B, K_m) + + # RoPE + cos_main, sin_main = self.rope(seq_len=T, device=x.device, dtype=x.dtype) + q_1, k_tokens = apply_rope(q_1, k_tokens, cos_main, sin_main) + cos_a, sin_a = self.rope(seq_len=K_a, device=x.device, dtype=x.dtype) + _, k_adapter = apply_rope(k_adapter, k_adapter, cos_a, sin_a) + cos_t, sin_t = self.rope(seq_len=K_t, device=x.device, dtype=x.dtype) + _, k_task = apply_rope(k_task, k_task, cos_t, sin_t) + if h_m is not None: + cos_m, sin_m = self.rope(seq_len=K_m, device=x.device, dtype=x.dtype) + _, k_memory = apply_rope(k_memory, k_memory, cos_m, sin_m) + + # attention scores + attn_scores = [torch.matmul(q_1, k_tokens.transpose(-2, -1))] + attn_scores.append(torch.matmul(q_1, k_adapter.transpose(-2, -1))) + attn_scores.append(torch.matmul(q_1, k_task.transpose(-2, -1)) * ratio_g) + if h_m is not None: + attn_scores.append(torch.matmul(q_1, k_memory.transpose(-2, -1)) * torch.tanh(self.memory_gating_factor)) + attn_scores = torch.cat(attn_scores, dim=-1) / math.sqrt(self.head_dim) + attn_weights = torch.softmax(attn_scores, dim=-1) + + # combine V + v_list = [v_tokens, v_adapter, v_task] + if h_m is not None: + v_list.append(v_memory) + v_combined = torch.cat(v_list, dim=2) + + output = torch.matmul(attn_weights, v_combined) + output = output.transpose(1, 2).contiguous().view(B, T, C) + output = self.o_proj(output) + + # # ---- FiLM ---- + # gamma_beta = self.film_gen(p) # [B, 2C] + # gamma, beta = gamma_beta.chunk(2, dim=-1) # [B, C], [B, C] + # output = self.apply_film(output, gamma, beta) + + # residual + FFN + x = self.ffn(output + x) + return x diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/__init__.py b/VLA-Adapter-UAV/prismatic/models/backbones/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/models/backbones/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..2c9b03b9b8713eecaebe1b835be3be0cc5e72011 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/models/backbones/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/__init__.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..1cdb19953b6529cb4015544c9d0cf8c43a22c2e9 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/__init__.py @@ -0,0 +1,4 @@ +from .base_llm import LLMBackbone +from .llama2 import LLaMa2LLMBackbone +from .mistral import MistralLLMBackbone +from .phi import PhiLLMBackbone diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/models/backbones/llm/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..259043e67a63980d2d6212bc91b5dbe2b49ca03e Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/models/backbones/llm/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/__pycache__/base_llm.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/models/backbones/llm/__pycache__/base_llm.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..8047062f80f0a4b3f7a9c60e8be28c17a661281c Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/models/backbones/llm/__pycache__/base_llm.cpython-310.pyc differ diff --git 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functions, and initialization logic. + +We also define the generic HFLLMBackbone class here, providing a default interface for loading any HF +AutoModelForCausalLM (e.g., LLamaForCausalLM). In general, we make the assumption that any given LLM backbone implements +the AutoModelForCausalLM API (though we may add Seq2Seq models in the future). + +We make this assumption to keep the LLM handling in this codebase relatively lightweight, and to inherit all the nice HF +utilities around different types of decoding/generation strategies. +""" + +import warnings +from abc import ABC, abstractmethod +from functools import partial +from typing import Callable, List, Optional, Sequence, Type + +import torch +import torch.nn as nn +from torch.distributed.fsdp.wrap import transformer_auto_wrap_policy +from transformers import AutoConfig, AutoTokenizer, PreTrainedModel, PreTrainedTokenizerBase +from transformers.modeling_outputs import CausalLMOutputWithPast + +from prismatic.models.backbones.llm.prompting import PromptBuilder +from prismatic.overwatch import initialize_overwatch + +# Suppress HF Deprecation Warnings +warnings.filterwarnings("ignore", category=FutureWarning) + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +# === Abstract Base Class for arbitrary HF LLM Backbones === +class LLMBackbone(nn.Module, ABC): + def __init__(self, llm_backbone_id: str) -> None: + super().__init__() + self.identifier = llm_backbone_id + + # Instance attributes for an LLM Backbone + self.llm: PreTrainedModel = None + self.tokenizer: PreTrainedTokenizerBase = None + + def get_tokenizer(self) -> PreTrainedTokenizerBase: + return self.tokenizer + + @abstractmethod + def get_fsdp_wrapping_policy(self) -> Callable: ... + + @abstractmethod + def enable_gradient_checkpointing(self) -> None: ... + + @abstractmethod + def forward( + self, + input_ids: Optional[torch.LongTensor] = None, + attention_mask: Optional[torch.Tensor] = None, + position_ids: Optional[torch.LongTensor] = None, + past_key_values: Optional[List[torch.FloatTensor]] = None, + inputs_embeds: Optional[torch.FloatTensor] = None, + labels: Optional[torch.LongTensor] = None, + use_cache: Optional[bool] = None, + output_attentions: Optional[bool] = None, + output_hidden_states: Optional[bool] = None, + return_dict: Optional[bool] = None, + ) -> CausalLMOutputWithPast: + """Run a forward pass through the LLM given targets (labels), returning the scalar Cross-Entropy Loss""" + raise NotImplementedError + + @abstractmethod + def embed_input_ids(self, input_ids: torch.LongTensor) -> torch.Tensor: ... + + @property + @abstractmethod + def prompt_builder_fn(self) -> Type[PromptBuilder]: ... + + @property + @abstractmethod + def transformer_layer_cls(self) -> Type[nn.Module]: ... + + @property + @abstractmethod + def half_precision_dtype(self) -> torch.dtype: ... + + @property + @abstractmethod + def last_layer_finetune_modules(self) -> Sequence[nn.Module]: ... + + @property + def embed_dim(self) -> int: + return self.llm.config.hidden_size + + @property + def pad_token_id(self) -> int: + return self.tokenizer.pad_token_id + + +# === Abstract Base Class for Arbitrary HF Causal LLMs === +class HFCausalLLMBackbone(LLMBackbone, ABC): + def __init__( + self, + llm_backbone_id: str, + llm_family: str, + llm_cls: Type[PreTrainedModel], + hf_hub_path: str, + llm_max_length: int = 2048, + hf_token: Optional[str] = None, + inference_mode: bool = False, + use_flash_attention_2: bool = False, + ) -> None: + super().__init__(llm_backbone_id) + self.llm_family = llm_family + self.llm_max_length = llm_max_length + self.inference_mode = inference_mode + + # Initialize LLM (downloading from HF Hub if necessary) --> `llm_cls` is the actual {Model}ForCausalLM class! + # => Note: We're eschewing use of the AutoModel API so that we can be more explicit about LLM-specific details + if not self.inference_mode: + overwatch.info(f"Loading [bold]{llm_family}[/] LLM from [underline]`{hf_hub_path}`[/]", ctx_level=1) + self.llm = llm_cls.from_pretrained( + hf_hub_path, + token=hf_token, + local_files_only=True, + use_flash_attention_2=use_flash_attention_2 if not self.inference_mode else False, + do_sample=False, + temperature=1.0, + top_p=1.0, + ) + + # [Contract] `inference_mode` means we're loading from a pretrained checkpoint; no need to load base weights! + else: + overwatch.info(f"Building empty [bold]{llm_family}[/] LLM from [underline]`{hf_hub_path}`[/]", ctx_level=1) + llm_config = AutoConfig.from_pretrained(hf_hub_path, token=hf_token, local_files_only=True) + + # versioning difference for prismatic models. + if hasattr(llm_cls, "from_config"): + self.llm = llm_cls.from_config(llm_config) + else: + self.llm = llm_cls._from_config(llm_config) + + # Lightweight Handling (with extended explanation) for setting some LLM Parameters + # => Set `decoder.use_cache = False` --> incompatible with gradient checkpointing (+ training in general) + # + # Reference: https://discuss.huggingface.co/t/what-is-the-purpose-of-use-cache-in-decoder/958 + self.llm.config.use_cache = False if not self.inference_mode else True + + # => Turns out that when gradient checkpointing is on and the underlying LLM has no "trainable" parameters + # (requires_grad is False), backprop will fail; setting `enable_input_requires_grad()` registers a new + # forward hook that fixes this =>> also totally safe for the "full finetuning" setting! + if not self.inference_mode: + self.llm.enable_input_require_grads() + + # Load (Fast) Tokenizer + overwatch.info(f"Loading [bold]{llm_family}[/] (Fast) Tokenizer via the AutoTokenizer API", ctx_level=1) + self.tokenizer = AutoTokenizer.from_pretrained( + hf_hub_path, model_max_length=self.llm_max_length, token=hf_token, padding_side="right", local_files_only=True + ) + + # Validation =>> Our VLM logic currently operates under the assumption that the tokenization of a new input + # starts with a token unless `add_special_tokens = False`; for these models, we empirically + # find that adding image patches *after* the BOS leads to much better performance. + # + # As a result we explicitly validate that a tokenizer conforms to the expected behavior; if you're reading this + # line, it's probably because you're adding a new LLM with a different tokenizer behavior. If so, feel free to + # override the `SPECIAL_CASES` set below, but make sure to make the appropriate changes in the `datasets.py` + # and VLM `forward()` logic! + SPECIAL_CASES = { + # Phi-2 Tokenizer doesn't add any BOS tokens by default, and sets BOS == EOS == "<|endoftext|>" + # =>> We'll prepend BOS to first input (to play nicely with image token insertion logic; verified that + # this works well with base LLM generation. + # =>> Like Llama-2 Tokenizers -- we'll add a special PAD token for training purposes. + "phi-2-3b", + "qwen25-0_5b-pure", + "qwen25-0_5b-extra", + "qwen25-1_5b-pure", + "qwen25-3b-pure", + "qwen25-7b-pure", + } + if self.identifier in SPECIAL_CASES: + return + + # Note =>> this assert should hold for all Llama-derived tokenizers (`LlamaTokenizerFast` ==> includes Mistral! + assert (self.tokenizer("Test 123", add_special_tokens=True).input_ids[0] == self.tokenizer.bos_token_id) and ( + self.tokenizer("Test 123", add_special_tokens=False).input_ids[0] != self.tokenizer.bos_token_id + ), ( + f"Default Tokenizer of type `{type(self.tokenizer)}` does not automatically prefix inputs with BOS token!\n" + "Please read the comment in `base_llm.py` for more information!" + ) + + def get_fsdp_wrapping_policy(self) -> Callable: + """Return a `transformer_auto_wrap_policy` where we wrap each instance of `self.transformer_layer_cls`""" + transformer_block_policy = partial( + transformer_auto_wrap_policy, transformer_layer_cls={self.transformer_layer_cls} + ) + + return transformer_block_policy + + def enable_gradient_checkpointing(self) -> None: + """Dispatch to underlying LLM instance's `gradient_checkpointing_enable`; defined for all `PretrainedModel`.""" + self.llm.gradient_checkpointing_enable() + + def embed_input_ids(self, input_ids: torch.LongTensor) -> torch.Tensor: + return self.llm.get_input_embeddings()(input_ids) + + # [Contract] Should match the `forward` call of the underlying `llm` instance! + def forward( + self, + input_ids: Optional[torch.LongTensor] = None, + attention_mask: Optional[torch.Tensor] = None, + position_ids: Optional[torch.LongTensor] = None, + past_key_values: Optional[List[torch.FloatTensor]] = None, + inputs_embeds: Optional[torch.FloatTensor] = None, + labels: Optional[torch.LongTensor] = None, + use_cache: Optional[bool] = None, + output_attentions: Optional[bool] = None, + output_hidden_states: Optional[bool] = None, + return_dict: Optional[bool] = None, + ) -> CausalLMOutputWithPast: + output: CausalLMOutputWithPast = self.llm( + input_ids=input_ids, + attention_mask=attention_mask, + position_ids=position_ids, + past_key_values=past_key_values, + inputs_embeds=inputs_embeds, + labels=labels, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + return output \ No newline at end of file diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/llama2.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/llama2.py new file mode 100644 index 0000000000000000000000000000000000000000..60f1f5756b564a67693870399d18d574eedbfbd9 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/llama2.py @@ -0,0 +1,102 @@ +""" +llama2.py + +Class definition for all LLMs derived from LlamaForCausalLM. +""" + +from typing import Optional, Sequence, Type + +import torch +from torch import nn as nn +from transformers import LlamaForCausalLM +from transformers.models.llama.modeling_llama import LlamaDecoderLayer + +from prismatic.models.backbones.llm.base_llm import HFCausalLLMBackbone +from prismatic.models.backbones.llm.prompting import ( + LLaMa2ChatPromptBuilder, + PromptBuilder, + PurePromptBuilder, + VicunaV15ChatPromptBuilder, +) + +# Registry =>> Support LLaMa-2 Models (from HF Transformers) +# fmt: off +LLAMA2_MODELS = { + # === Pure Meta LLaMa-2 (non-instruct/chat-tuned) Models === + "llama2-7b-pure": { + "llm_family": "llama2", "llm_cls": LlamaForCausalLM, "hf_hub_path": "meta-llama/Llama-2-7b-hf" + }, + + "llama2-13b-pure": { + "llm_family": "llama2", "llm_cls": LlamaForCausalLM, "hf_hub_path": "meta-llama/Llama-2-13b-hf" + }, + + # === Meta LLaMa-2 Chat Models === + "llama2-7b-chat": { + "llm_family": "llama2", "llm_cls": LlamaForCausalLM, "hf_hub_path": "meta-llama/Llama-2-7b-chat-hf" + }, + + "llama2-13b-chat": { + "llm_family": "llama2", "llm_cls": LlamaForCausalLM, "hf_hub_path": "meta-llama/Llama-2-13b-chat-hf" + }, + + # === Vicuna v1.5 Chat Models === + "vicuna-v15-7b": { + "llm_family": "llama2", "llm_cls": LlamaForCausalLM, "hf_hub_path": "lmsys/vicuna-7b-v1.5" + }, + + "vicuna-v15-13b": { + "llm_family": "llama2", "llm_cls": LlamaForCausalLM, "hf_hub_path": "lmsys/vicuna-13b-v1.5" + }, +} +# fmt: on + + +class LLaMa2LLMBackbone(HFCausalLLMBackbone): + def __init__( + self, + llm_backbone_id: str, + llm_max_length: int = 2048, + hf_token: Optional[str] = None, + inference_mode: bool = False, + use_flash_attention_2: bool = True, + ) -> None: + super().__init__( + llm_backbone_id, + llm_max_length=llm_max_length, + hf_token=hf_token, + inference_mode=inference_mode, + use_flash_attention_2=use_flash_attention_2, + **LLAMA2_MODELS[llm_backbone_id], + ) + + # [Special Case] LLaMa-2 PAD Token Handling --> for clarity, we add an extra token (and resize) + self.tokenizer.add_special_tokens({"pad_token": ""}) + self.llm.config.pad_token_id = self.tokenizer.pad_token_id + self.llm.resize_token_embeddings(len(self.tokenizer), pad_to_multiple_of=64) + + @property + def prompt_builder_fn(self) -> Type[PromptBuilder]: + if self.identifier.startswith("llama2-") and self.identifier.endswith("-pure"): + return PurePromptBuilder + + elif self.identifier.startswith("llama2-") and self.identifier.endswith("-chat"): + return LLaMa2ChatPromptBuilder + + elif self.identifier.startswith("vicuna"): + return VicunaV15ChatPromptBuilder + + raise ValueError(f"No PromptBuilder defined for LLM Backbone `{self.identifier}`") + + @property + def transformer_layer_cls(self) -> Type[nn.Module]: + return LlamaDecoderLayer + + @property + def half_precision_dtype(self) -> torch.dtype: + """LLaMa-2 was trained in BF16; see https://huggingface.co/docs/transformers/main/model_doc/llama2.""" + return torch.bfloat16 + + @property + def last_layer_finetune_modules(self) -> Sequence[nn.Module]: + return (self.llm.model.embed_tokens, self.llm.model.layers[-1], self.llm.lm_head) diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/mistral.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/mistral.py new file mode 100644 index 0000000000000000000000000000000000000000..9bc25553db6f9d2cbd292c98615b67c2105345f4 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/mistral.py @@ -0,0 +1,72 @@ +""" +mistral.py + +Class definition for all LLMs derived from MistralForCausalLM. +""" + +from typing import Optional, Type + +import torch +from torch import nn as nn +from transformers import MistralForCausalLM +from transformers.models.mistral.modeling_mistral import MistralDecoderLayer + +from prismatic.models.backbones.llm.base_llm import HFCausalLLMBackbone +from prismatic.models.backbones.llm.prompting import MistralInstructPromptBuilder, PromptBuilder, PurePromptBuilder + +# Registry =>> Support Mistral Models (from HF Transformers) +# fmt: off +MISTRAL_MODELS = { + # === Base Mistral v0.1 === + "mistral-v0.1-7b-pure": { + "llm_family": "mistral", "llm_cls": MistralForCausalLM, "hf_hub_path": "mistralai/Mistral-7B-v0.1" + }, + + # === Mistral Instruct v0.1 === + "mistral-v0.1-7b-instruct": { + "llm_family": "mistral", "llm_cls": MistralForCausalLM, "hf_hub_path": "mistralai/Mistral-7B-Instruct-v0.1" + } +} +# fmt: on + + +class MistralLLMBackbone(HFCausalLLMBackbone): + def __init__( + self, + llm_backbone_id: str, + llm_max_length: int = 2048, + hf_token: Optional[str] = None, + inference_mode: bool = False, + use_flash_attention_2: bool = True, + ) -> None: + super().__init__( + llm_backbone_id, + llm_max_length=llm_max_length, + hf_token=hf_token, + inference_mode=inference_mode, + use_flash_attention_2=use_flash_attention_2, + **MISTRAL_MODELS[llm_backbone_id], + ) + + # [Special Case] Mistral PAD Token Handling --> for clarity, we add an extra token (and resize) + self.tokenizer.add_special_tokens({"pad_token": ""}) + self.llm.config.pad_token_id = self.tokenizer.pad_token_id + self.llm.resize_token_embeddings(len(self.tokenizer), pad_to_multiple_of=64) + + @property + def prompt_builder_fn(self) -> Type[PromptBuilder]: + if self.identifier.endswith("-pure"): + return PurePromptBuilder + + elif self.identifier.endswith("-instruct"): + return MistralInstructPromptBuilder + + raise ValueError(f"No PromptBuilder defined for LLM Backbone `{self.identifier}`") + + @property + def transformer_layer_cls(self) -> Type[nn.Module]: + return MistralDecoderLayer + + @property + def half_precision_dtype(self) -> torch.dtype: + return torch.bfloat16 diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/phi.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/phi.py new file mode 100644 index 0000000000000000000000000000000000000000..27bb8b79b0e384af02071a21589050e41aebb4ae --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/phi.py @@ -0,0 +1,64 @@ +""" +phi.py + +Class definition for all LLMs derived from PhiForCausalLM. +""" + +from typing import Optional, Type + +import torch +from torch import nn as nn +from transformers import PhiForCausalLM +from transformers.models.phi.modeling_phi import PhiDecoderLayer + +from prismatic.models.backbones.llm.base_llm import HFCausalLLMBackbone +from prismatic.models.backbones.llm.prompting import PhiPromptBuilder, PromptBuilder + +# Registry ==> Support Phi Models (from HF Transformers) +# fmt: off +PHI_MODELS = { + # === Phi-2 === + "phi-2-3b": { + "llm_family": "phi", "llm_cls": PhiForCausalLM, "hf_hub_path": "microsoft/phi-2" + } +} +# fmt: on + + +class PhiLLMBackbone(HFCausalLLMBackbone): + def __init__( + self, + llm_backbone_id: str, + llm_max_length: int = 2048, + hf_token: Optional[str] = None, + inference_mode: bool = False, + use_flash_attention_2: bool = True, + ) -> None: + super().__init__( + llm_backbone_id, + llm_max_length=llm_max_length, + hf_token=hf_token, + inference_mode=inference_mode, + use_flash_attention_2=use_flash_attention_2, + **PHI_MODELS[llm_backbone_id], + ) + + # [Special Case] Phi PAD Token Handling --> for clarity, we add an extra token (and resize) + self.tokenizer.add_special_tokens({"pad_token": "<|pad|>"}) + self.llm.config.pad_token_id = self.tokenizer.pad_token_id + self.llm.resize_token_embeddings(len(self.tokenizer), pad_to_multiple_of=64) + + @property + def prompt_builder_fn(self) -> Type[PromptBuilder]: + if self.identifier.startswith("phi-2"): + return PhiPromptBuilder + + raise ValueError(f"No PromptBuilder defined for LLM Backbone `{self.identifier}`") + + @property + def transformer_layer_cls(self) -> Type[nn.Module]: + return PhiDecoderLayer + + @property + def half_precision_dtype(self) -> torch.dtype: + return torch.bfloat16 diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/__init__.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..fbc07bb9c07b4c4db5e8302084c7f674670dd3f7 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/__init__.py @@ -0,0 +1,7 @@ +from .base_prompter import PromptBuilder, PurePromptBuilder +from .llama2_chat_prompter import LLaMa2ChatPromptBuilder +from .mistral_instruct_prompter import MistralInstructPromptBuilder +from .phi_prompter import PhiPromptBuilder +from .vicuna_v15_prompter import VicunaV15ChatPromptBuilder +from .qwen_prompter import QwenPromptBuilder + diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/__pycache__/__init__.cpython-310.pyc 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__init__(self, model_family: str, system_prompt: Optional[str] = None) -> None: + self.model_family = model_family + + # Only some models define a system prompt => let subclasses handle this logic! + self.system_prompt = system_prompt + + @abstractmethod + def add_turn(self, role: str, message: str) -> str: ... + + @abstractmethod + def get_potential_prompt(self, user_msg: str) -> None: ... + + @abstractmethod + def get_prompt(self) -> str: ... + + +class PurePromptBuilder(PromptBuilder): + def __init__(self, model_family: str, system_prompt: Optional[str] = None) -> None: + super().__init__(model_family, system_prompt) + + # TODO (siddk) =>> Can't always assume LlamaTokenizer --> FIX ME! + self.bos, self.eos = "", "" + + # Get role-specific "wrap" functions + self.wrap_human = lambda msg: f"In: {msg}\nOut: " + self.wrap_gpt = lambda msg: f"{msg if msg != '' else ' '}{self.eos}" + + # === `self.prompt` gets built up over multiple turns === + self.prompt, self.turn_count = "", 0 + + def add_turn(self, role: str, message: str) -> str: + assert (role == "human") if (self.turn_count % 2 == 0) else (role == "gpt") + message = message.replace("", "").strip() + + if (self.turn_count % 2) == 0: + human_message = self.wrap_human(message) + wrapped_message = human_message + else: + gpt_message = self.wrap_gpt(message) + wrapped_message = gpt_message + + # Update Prompt + self.prompt += wrapped_message + + # Bump Turn Counter + self.turn_count += 1 + + # Return "wrapped_message" (effective string added to context) + return wrapped_message + + def get_potential_prompt(self, message: str) -> None: + # Assumes that it's always the user's (human's) turn! + prompt_copy = str(self.prompt) + + human_message = self.wrap_human(message) + prompt_copy += human_message + + return prompt_copy.removeprefix(self.bos).rstrip() + + def get_prompt(self) -> str: + # Remove prefix (if exists) because it gets auto-inserted by tokenizer! + return self.prompt.removeprefix(self.bos).rstrip() diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/llama2_chat_prompter.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/llama2_chat_prompter.py new file mode 100644 index 0000000000000000000000000000000000000000..b094675a6ee550a8d2d99ed35be2d3c4a71e861d --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/llama2_chat_prompter.py @@ -0,0 +1,91 @@ +""" +llama2_prompter.py + +Defines a PromptBuilder for building LLaMa-2 Chat Prompts --> not sure if this is "optimal", but this is the pattern +that's used by HF and other online tutorials. + +Reference: https://huggingface.co/blog/llama2#how-to-prompt-llama-2 +""" + +from typing import Optional + +from prismatic.models.backbones.llm.prompting.base_prompter import PromptBuilder + +# Default System Prompt for Prismatic Models +SYS_PROMPTS = { + "prismatic": ( + "You are a helpful language and vision assistant. " + "You are able to understand the visual content that the user provides, " + "and assist the user with a variety of tasks using natural language." + ), + "openvla": ( + "You are a helpful language and vision assistant. " + "You are able to understand the visual content that the user provides, " + "and assist the user with a variety of tasks using natural language." + ), +} + + +def format_system_prompt(system_prompt: str) -> str: + return f"<\n{system_prompt.strip()}\n<>\n\n" + + +class LLaMa2ChatPromptBuilder(PromptBuilder): + def __init__(self, model_family: str, system_prompt: Optional[str] = None) -> None: + super().__init__(model_family, system_prompt) + self.system_prompt = format_system_prompt( + SYS_PROMPTS[self.model_family] if system_prompt is None else system_prompt + ) + + # LLaMa-2 Specific + self.bos, self.eos = "", "" + + # Get role-specific "wrap" functions + self.wrap_human = lambda msg: f"[INST] {msg} [/INST] " + self.wrap_gpt = lambda msg: f"{msg if msg != '' else ' '}{self.eos}" + + # === `self.prompt` gets built up over multiple turns === + self.prompt, self.turn_count = "", 0 + + def add_turn(self, role: str, message: str) -> str: + assert (role == "human") if (self.turn_count % 2 == 0) else (role == "gpt") + message = message.replace("", "").strip() + + # Special Handling for "system" prompt (turn_count == 0) + if self.turn_count == 0: + sys_message = self.wrap_human(self.system_prompt + message) + wrapped_message = sys_message + elif (self.turn_count % 2) == 0: + human_message = self.wrap_human(message) + wrapped_message = human_message + else: + gpt_message = self.wrap_gpt(message) + wrapped_message = gpt_message + + # Update Prompt + self.prompt += wrapped_message + + # Bump Turn Counter + self.turn_count += 1 + + # Return "wrapped_message" (effective string added to context) + return wrapped_message + + def get_potential_prompt(self, message: str) -> None: + # Assumes that it's always the user's (human's) turn! + prompt_copy = str(self.prompt) + + # Special Handling for "system" prompt (turn_count == 0) + if self.turn_count == 0: + sys_message = self.wrap_human(self.system_prompt + message) + prompt_copy += sys_message + + else: + human_message = self.wrap_human(message) + prompt_copy += human_message + + return prompt_copy.removeprefix(self.bos).rstrip() + + def get_prompt(self) -> str: + # Remove prefix because it gets auto-inserted by tokenizer! + return self.prompt.removeprefix(self.bos).rstrip() diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/mistral_instruct_prompter.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/mistral_instruct_prompter.py new file mode 100644 index 0000000000000000000000000000000000000000..35a5eab8b3caf31ea671727230d1aed29903dde3 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/mistral_instruct_prompter.py @@ -0,0 +1,60 @@ +""" +mistral_instruct_prompter.py + +Defines a PromptBuilder for building Mistral Instruct Chat Prompts --> recommended pattern used by HF / online tutorial.s + +Reference: https://huggingface.co/mistralai/Mistral-7B-Instruct-v0.1#instruction-format +""" + +from typing import Optional + +from prismatic.models.backbones.llm.prompting.base_prompter import PromptBuilder + + +class MistralInstructPromptBuilder(PromptBuilder): + def __init__(self, model_family: str, system_prompt: Optional[str] = None) -> None: + super().__init__(model_family, system_prompt) + + # Note =>> Mistral Tokenizer is an instance of `LlamaTokenizer(Fast)` + # =>> Mistral Instruct *does not* use a System Prompt + self.bos, self.eos = "", "" + + # Get role-specific "wrap" functions + self.wrap_human = lambda msg: f"[INST] {msg} [/INST] " + self.wrap_gpt = lambda msg: f"{msg if msg != '' else ' '}{self.eos}" + + # === `self.prompt` gets built up over multiple turns === + self.prompt, self.turn_count = "", 0 + + def add_turn(self, role: str, message: str) -> str: + assert (role == "human") if (self.turn_count % 2 == 0) else (role == "gpt") + message = message.replace("", "").strip() + + if (self.turn_count % 2) == 0: + human_message = self.wrap_human(message) + wrapped_message = human_message + else: + gpt_message = self.wrap_gpt(message) + wrapped_message = gpt_message + + # Update Prompt + self.prompt += wrapped_message + + # Bump Turn Counter + self.turn_count += 1 + + # Return "wrapped_message" (effective string added to context) + return wrapped_message + + def get_potential_prompt(self, message: str) -> None: + # Assumes that it's always the user's (human's) turn! + prompt_copy = str(self.prompt) + + human_message = self.wrap_human(message) + prompt_copy += human_message + + return prompt_copy.removeprefix(self.bos).rstrip() + + def get_prompt(self) -> str: + # Remove prefix because it gets auto-inserted by tokenizer! + return self.prompt.removeprefix(self.bos).rstrip() diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/phi_prompter.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/phi_prompter.py new file mode 100644 index 0000000000000000000000000000000000000000..b350ea3a6b6c448cc65caa6fa72db3c253dd0b7b --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/phi_prompter.py @@ -0,0 +1,65 @@ +""" +phi_prompter.py + +Defines a PromptBuilder for building Phi-2 Input/Output Prompts --> recommended pattern used by HF / Microsoft. +Also handles Phi special case BOS token additions. + +Reference: https://huggingface.co/microsoft/phi-2#qa-format +""" + +from typing import Optional + +from prismatic.models.backbones.llm.prompting.base_prompter import PromptBuilder + + +class PhiPromptBuilder(PromptBuilder): + def __init__(self, model_family: str, system_prompt: Optional[str] = None) -> None: + super().__init__(model_family, system_prompt) + + # Note =>> Phi Tokenizer is an instance of `CodeGenTokenizer(Fast)` + # =>> By default, does *not* append / tokens --> we handle that here (IMPORTANT)! + self.bos, self.eos = "<|endoftext|>", "<|endoftext|>" + + # Get role-specific "wrap" functions + # =>> Note that placement of / were based on experiments generating from Phi-2 in Input/Output mode + self.wrap_human = lambda msg: f"Input: {msg}\nOutput: " + self.wrap_gpt = lambda msg: f"{msg if msg != '' else ' '}\n{self.eos}" + + # === `self.prompt` gets built up over multiple turns === + self.prompt, self.turn_count = "", 0 + + def add_turn(self, role: str, message: str) -> str: + assert (role == "human") if (self.turn_count % 2 == 0) else (role == "gpt") + message = message.replace("", "").strip() + + # Special Handling for "first" input --> prepend a token (expected by Prismatic) + if self.turn_count == 0: + bos_human_message = f"{self.bos}{self.wrap_human(message)}" + wrapped_message = bos_human_message + elif (self.turn_count % 2) == 0: + human_message = self.wrap_human(message) + wrapped_message = human_message + else: + gpt_message = self.wrap_gpt(message) + wrapped_message = gpt_message + + # Update Prompt + self.prompt += wrapped_message + + # Bump Turn Counter + self.turn_count += 1 + + # Return "wrapped_message" (effective string added to context) + return wrapped_message + + def get_potential_prompt(self, message: str) -> None: + # Assumes that it's always the user's (human's) turn! + prompt_copy = str(self.prompt) + + human_message = self.wrap_human(message) + prompt_copy += human_message + + return prompt_copy.rstrip() + + def get_prompt(self) -> str: + return self.prompt.rstrip() diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/qwen_prompter.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/qwen_prompter.py new file mode 100644 index 0000000000000000000000000000000000000000..6998217f6ef995874891152864a0aa0bdae82410 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/qwen_prompter.py @@ -0,0 +1,73 @@ +from typing import Optional + +from prismatic.models.backbones.llm.prompting.base_prompter import PromptBuilder + +SYS_PROMPTS = { + "prismatic": "You are Qwen, created by Alibaba Cloud. You are a helpful assistant.", + "openvla": "You are Qwen, created by Alibaba Cloud. You are a helpful assistant.", +} + + +class QwenPromptBuilder(PromptBuilder): + def __init__(self, model_family: str, system_prompt: Optional[str] = None) -> None: + super().__init__(model_family, system_prompt) + + self.system_prompt = (SYS_PROMPTS[model_family] if system_prompt is None else self.system_prompt).strip() + + # Note =>> Qwen Tokenizer is an instance of `Qwen2Tokenizer(Fast)` + # =>> By default, there is *no* token. we add manually. + self.bos = self.start = "<|im_start|>" # NOTE this is not used + self.eos = "<|endoftext|>" + + self.end = "<|im_end|>" + + # Get role-specific "wrap" functions + # =>> Note that placement of / were based on experiments generating from Phi-2 in Input/Output mode + self.wrap_system = lambda msg: f"{self.start}system\n{msg}{self.end}\n" + self.wrap_human = lambda msg: f"{self.start}user\n{msg}{self.end}\n{self.start}assistant\n" + self.wrap_gpt = lambda msg: f"{msg if msg != '' else ' '}{self.end}\n" + + # === `self.prompt` gets built up over multiple turns === + self.prompt, self.turn_count = "", 0 + + def add_turn(self, role: str, message: str) -> str: + assert (role == "human") if (self.turn_count % 2 == 0) else (role == "gpt") + message = message.replace("", "").strip() + + # Special Handling for "first" input --> add an optional system prompt to the beginning. + if self.turn_count == 0 and self.system_prompt is not None: + self.prompt += self.wrap_system(self.system_prompt) + + if (self.turn_count % 2) == 0: + human_message = self.wrap_human(message) + wrapped_message = human_message + else: + gpt_message = self.wrap_gpt(message) + wrapped_message = gpt_message + + # Update Prompt + self.prompt += wrapped_message + + # Bump Turn Counter + self.turn_count += 1 + + # Return "wrapped_message" (effective string added to context) + return wrapped_message + + def get_potential_prompt(self, message: str) -> None: + # Assumes that it's always the user's (human's) turn! + prompt_copy = str(self.prompt) + + human_message = self.wrap_human(message) + prompt_copy += human_message + + return prompt_copy + + def get_prompt(self) -> str: + # add EOS if we ended on a "gpt" role (turns is a multiple of 2) + if self.turn_count % 2 == 0: + # remove the newline before EOS + assert self.prompt[-1] == "\n", f"malformed prompt ({self.prompt}) missing newline before EOS append!" + return self.prompt[:-1] + self.eos + + return self.prompt \ No newline at end of file diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/vicuna_v15_prompter.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/vicuna_v15_prompter.py new file mode 100644 index 0000000000000000000000000000000000000000..f5e79e443a791a149cec09a81d55b1a3788eb9de --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/prompting/vicuna_v15_prompter.py @@ -0,0 +1,82 @@ +""" +vicuna_v15_prompter.py + +Defines a PromptBuilder for building Vicuna-v1.5 Chat Prompts. + +Reference: https://huggingface.co/lmsys/vicuna-13b-v1.5 +""" + +from typing import Optional + +from prismatic.models.backbones.llm.prompting.base_prompter import PromptBuilder + +# Default System Prompt for LLaVa Models +SYS_PROMPTS = { + "prismatic": ( + "A chat between a curious user and an artificial intelligence assistant. " + "The assistant gives helpful, detailed, and polite answers to the user's questions." + ), + "openvla": ( + "A chat between a curious user and an artificial intelligence assistant. " + "The assistant gives helpful, detailed, and polite answers to the user's questions." + ), +} + + +class VicunaV15ChatPromptBuilder(PromptBuilder): + def __init__(self, model_family: str, system_prompt: Optional[str] = None) -> None: + super().__init__(model_family, system_prompt) + self.system_prompt = (SYS_PROMPTS[self.model_family] if system_prompt is None else system_prompt).strip() + " " + + # LLaMa-2 Specific + self.bos, self.eos = "", "" + + # Get role-specific "wrap" functions + self.wrap_human = lambda msg: f"USER: {msg} ASSISTANT: " + self.wrap_gpt = lambda msg: f"{msg if msg != '' else ' '}{self.eos}" + + # === `self.prompt` gets built up over multiple turns === + self.prompt, self.turn_count = "", 0 + + def add_turn(self, role: str, message: str) -> str: + assert (role == "human") if (self.turn_count % 2 == 0) else (role == "gpt") + message = message.replace("", "").strip() + + # Special Handling for "system" prompt (turn_count == 0) + if self.turn_count == 0: + sys_message = self.system_prompt + self.wrap_human(message) + wrapped_message = sys_message + elif (self.turn_count % 2) == 0: + human_message = self.wrap_human(message) + wrapped_message = human_message + else: + gpt_message = self.wrap_gpt(message) + wrapped_message = gpt_message + + # Update Prompt + self.prompt += wrapped_message + + # Bump Turn Counter + self.turn_count += 1 + + # Return "wrapped_message" (effective string added to context) + return wrapped_message + + def get_potential_prompt(self, message: str) -> None: + # Assumes that it's always the user's (human's) turn! + prompt_copy = str(self.prompt) + + # Special Handling for "system" prompt (turn_count == 0) + if self.turn_count == 0: + sys_message = self.system_prompt + self.wrap_human(message) + prompt_copy += sys_message + + else: + human_message = self.wrap_human(message) + prompt_copy += human_message + + return prompt_copy.removeprefix(self.bos).rstrip() + + def get_prompt(self) -> str: + # Remove prefix (if exists) because it gets auto-inserted by tokenizer! + return self.prompt.removeprefix(self.bos).rstrip() diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/llm/qwen25.py b/VLA-Adapter-UAV/prismatic/models/backbones/llm/qwen25.py new file mode 100644 index 0000000000000000000000000000000000000000..b5cd946938242fdee23856cdab889389d12ed984 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/llm/qwen25.py @@ -0,0 +1,88 @@ +""" +qwen2_5.py + +Class definition for all LLMs derived from QwenForCausalLM. +""" + +from typing import Optional, Sequence, Type + +import torch +from transformers import AutoModelForCausalLM +from transformers.models.qwen2.modeling_qwen2 import Qwen2DecoderLayer + +from prismatic.models.backbones.llm.base_llm import HFCausalLLMBackbone +from prismatic.models.backbones.llm.prompting.base_prompter import PromptBuilder +from prismatic.models.backbones.llm.prompting.qwen_prompter import QwenPromptBuilder + +# Registry =>> Support Qwen-2.5 Models (from HF Transformers) +# fmt: off +QWEN25_MODELS = { + # === Pure Qwen2.5 (non-instruct/chat-tuned) Models === + # NOTE: Set `hf_hub_path` to your local Qwen2.5 checkpoint directory. + # Download: huggingface-cli download Qwen/Qwen2.5-0.5B --local-dir pretrained_models/Qwen2.5-0.5B + "qwen25-0_5b-extra": { + "llm_family": "qwen2.5", "llm_cls": AutoModelForCausalLM, "hf_hub_path": "pretrained_models/Qwen2.5-0.5B" + }, + "qwen25-0_5b-pure": { + "llm_family": "qwen2.5", "llm_cls": AutoModelForCausalLM, "hf_hub_path": "pretrained_models/Qwen2.5-0.5B" + }, + "qwen25-1_5b-pure": { + "llm_family": "qwen2.5", "llm_cls": AutoModelForCausalLM, "hf_hub_path": "pretrained_models/Qwen2.5-1.5B" + }, + "qwen25-3b-pure": { + "llm_family": "qwen2.5", "llm_cls": AutoModelForCausalLM, "hf_hub_path": "pretrained_models/Qwen2.5-3B" + }, + "qwen25-7b-pure": { + "llm_family": "qwen2.5", "llm_cls": AutoModelForCausalLM, "hf_hub_path": "pretrained_models/Qwen2.5-7B" + }, + +} +# fmt: on + + +class Qwen25LLMBackbone(HFCausalLLMBackbone): + def __init__( + self, + llm_backbone_id: str, + llm_max_length: int = 2048, + hf_token: Optional[str] = None, + inference_mode: bool = False, + use_flash_attention_2: bool = True, + num_extra_tokens: int = 0, + ) -> None: + super().__init__( + llm_backbone_id, + llm_max_length=llm_max_length, + hf_token=hf_token, + inference_mode=inference_mode, + use_flash_attention_2=use_flash_attention_2, + **QWEN25_MODELS[llm_backbone_id], + ) + + # add some more special tokens + if num_extra_tokens > 0: + added = self.tokenizer.add_tokens([f"<|extra_{i}|>" for i in range(num_extra_tokens)]) + assert added == num_extra_tokens, f"Added {added} of {num_extra_tokens} extra tokens to tokenizer!" + print(f"Added {num_extra_tokens} extra tokens.") + + # there is already a special token for Qwen + # self.tokenizer.add_special_tokens({"pad_token": ""}) + self.llm.config.pad_token_id = self.tokenizer.pad_token_id + self.llm.resize_token_embeddings(len(self.tokenizer), pad_to_multiple_of=64) + + @property + def prompt_builder_fn(self) -> Type[PromptBuilder]: + return QwenPromptBuilder + + @property + def transformer_layer_cls(self) -> Type[torch.nn.Module]: + return Qwen2DecoderLayer + + @property + def half_precision_dtype(self) -> torch.dtype: + return torch.bfloat16 + + @property + def last_layer_finetune_modules(self) -> Sequence[torch.nn.Module]: + # TODO not sure that this works + return (self.llm.model.embed_tokens, self.llm.model.layers[-1], self.llm.lm_head) \ No newline at end of file diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/vision/__init__.py b/VLA-Adapter-UAV/prismatic/models/backbones/vision/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..d9f33f8aa95245bdeb84f16b78ebb97b0e2bcd13 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/vision/__init__.py @@ -0,0 +1,7 @@ +from .base_vision import ImageTransform, VisionBackbone +from 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b/VLA-Adapter-UAV/prismatic/models/backbones/vision/__pycache__/siglip_vit.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/vision/base_vision.py b/VLA-Adapter-UAV/prismatic/models/backbones/vision/base_vision.py new file mode 100644 index 0000000000000000000000000000000000000000..fce2db9bab16a94f63147c33669adcedb18bb5cc --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/vision/base_vision.py @@ -0,0 +1,267 @@ +""" +base_vision.py + +Abstract class definition of a Vision Backbone (Visual Featurizer), with full annotations of class methods, utility +functions, and initialization logic. + +We also define the generic TimmViTBackbone class here, providing a default interface for loading any TIMM Vision +Transformer model for feature extraction. +""" + +from abc import ABC, abstractmethod +from dataclasses import dataclass +from functools import partial +from typing import Any, Callable, Dict, List, Optional, Protocol, Tuple, Union + +import timm +import torch +import torch.nn as nn +import torchvision.transforms.functional as TVF +from PIL.Image import Image +from timm.models.vision_transformer import Block, VisionTransformer +from torch.distributed.fsdp.wrap import _module_wrap_policy, _or_policy, transformer_auto_wrap_policy +from torchvision.transforms import Compose, Resize + +from prismatic.util.torch_utils import merge_two_dims, sequence_combine_call_split + + +# === Utility Functions for Monkey-Patching === +def unpack_tuple(fn: Callable[[Any], Tuple[Any]]) -> Callable[[Any], Any]: + def wrapper(*args: Any, **kwargs: Any) -> Any: + result = fn(*args, **kwargs) + return result[0] if isinstance(result, tuple) else result + + return wrapper + + +# === Utility Function for handling image sequences === +def compute_sequence_patches(pixel_values: Dict, featurizers: Dict, seq_len: int): + patches = {} + for k in pixel_values: + # must be of shape B x T x C x H x W + assert len(pixel_values[k].shape) == 5, "Pixel values must be (B, T, C, H, W)" + assert pixel_values[k].shape[1] >= seq_len, "Sequence length was too short!" + trunc_pixels_k = pixel_values[k][:, :seq_len] + + # will output B x (T*featurizer.num_patches) x embed_dim + patches[k] = merge_two_dims(sequence_combine_call_split(trunc_pixels_k, featurizers[k]), start_dim=1) + return patches + + +# === Interface for an Image Transform === +class ImageTransform(Protocol): + def __call__( + self, img: Union[Image, List[Image]], **kwargs: str + ) -> Union[torch.Tensor, Dict[str, torch.Tensor]]: ... + + +# === Special Image Transform Wrapper for sequences === +class WrapSequenceImageTransform(ImageTransform): + """Performs transforms and returns a tensor that with a sequence len dimension""" + + def __init__(self, base_transform: ImageTransform, sequence_len: int): + self.base_transform = base_transform + self.sequence_len = sequence_len + assert self.sequence_len > 1 + + def __call__(self, img: Union[Image, List[Image]], **kwargs: str) -> Union[torch.Tensor, Dict[str, torch.Tensor]]: + assert isinstance(img, list) and len(img) == self.sequence_len + outputs = [self.base_transform(image, **kwargs) for image in img] + + # return either a dict w/ stacked tensors along dim=0, or a single tensor + # output tensors are (SEQ_LEN, C, H, W) + if isinstance(outputs[0], dict): + return {k: torch.stack([o[k] for o in outputs], dim=0) for k in outputs[0]} + else: + return torch.stack(outputs, dim=0) + + +# === Custom Torchvision Image Transforms === +@dataclass +class LetterboxPad: + padding_fill_value: Tuple[int, int, int] + + def __call__(self, image: Image) -> Image: + """Given a PIL.Image, pad to square by adding a symmetric border around the height/width.""" + (w, h), max_wh = image.size, max(image.size) + horizontal_pad, vertical_pad = int((max_wh - w) / 2), int((max_wh - h) / 2) + padding = (horizontal_pad, vertical_pad, horizontal_pad, vertical_pad) + return TVF.pad(image, padding, fill=self.padding_fill_value, padding_mode="constant") + + +# === Abstract Base Class for arbitrary Vision Backbones === +class VisionBackbone(nn.Module, ABC): + def __init__( + self, + vision_backbone_id: str, + image_resize_strategy: str, + default_image_size: int = 224, + image_sequence_len: int = 1, + ) -> None: + super().__init__() + self.identifier: str = vision_backbone_id + self.image_resize_strategy: str = image_resize_strategy + self.default_image_size: int = default_image_size + self.image_sequence_len: int = image_sequence_len + + # Instance attributes for a Vision Backbone + self.featurizer: nn.Module = None + self.image_transform: ImageTransform = None + + def get_image_transform(self) -> ImageTransform: + if self.image_sequence_len == 1: + return self.image_transform + else: + return WrapSequenceImageTransform(self.image_transform, sequence_len=self.image_sequence_len) + + @abstractmethod + def get_fsdp_wrapping_policy(self) -> Callable: ... + + @abstractmethod + def forward(self, pixel_values: torch.Tensor) -> torch.Tensor: + """Run a forward pass through the featurizer given a set of processed images, returning patch/grid features.""" + raise NotImplementedError + + @property + @abstractmethod + def default_image_resolution(self) -> Tuple[int, int, int]: ... + + @property + @abstractmethod + def embed_dim(self) -> int: ... + + @property + @abstractmethod + def num_patches(self) -> int: ... + + @property + @abstractmethod + def half_precision_dtype(self) -> torch.dtype: ... + + +# === Abstract Base Class for Arbitrary TIMM Vision Transformer Backbones === +class TimmViTBackbone(VisionBackbone, ABC): + def __init__( + self, + vision_backbone_id: str, + timm_path_or_url: str, + image_resize_strategy: str, + default_image_size: int = 224, + image_sequence_len: int = 1, + override_act_layer: Optional[str] = None, + ) -> None: + super().__init__( + vision_backbone_id, + image_resize_strategy, + default_image_size=default_image_size, + image_sequence_len=image_sequence_len, + ) + self.timm_path_or_url = timm_path_or_url + self.override_act_layer = override_act_layer + self.dtype = torch.bfloat16 + + # Initialize Featurizer (ViT) from local cache / checkpoint (weights overwritten by VLM checkpoint) + if self.override_act_layer is None: + self.featurizer: VisionTransformer = timm.create_model( + self.timm_path_or_url, pretrained=False, num_classes=0, img_size=self.default_image_size + ) + else: + self.featurizer: VisionTransformer = timm.create_model( + self.timm_path_or_url, + pretrained=False, + num_classes=0, + img_size=self.default_image_size, + act_layer=self.override_act_layer, + ) + self.featurizer.eval() + + # Monkey-Patch the `forward()` function of the featurizer to ensure FSDP-compatibility + # => Note: By default set `get_intermediate_layers` to return the *SECOND-TO-LAST* layer patches! + # => TODO (siddk) Remove after resolution of https://github.com/pytorch/pytorch/issues/109385 + self.featurizer.forward = unpack_tuple( + partial(self.featurizer.get_intermediate_layers, n={len(self.featurizer.blocks) - 2}) + ) + + # Validation =>> for now, this class *only* supports TIMM Vision Transformers (but can be extended!) + assert isinstance(self.featurizer, VisionTransformer), ( + "Featurizer is not a TIMM VisionTransformer; if you would like to support a new visual representation, " + "file an issue or implement the requisite logic (see `prismatic/models/backbones/vision/base_vision.py`)!" + ) + + # Get Config =>> Note :: Override default image size to ensure correct image transform + self.data_cfg = timm.data.resolve_model_data_config(self.featurizer) + self.data_cfg["input_size"] = (3, self.default_image_size, self.default_image_size) + + # Initialize Default Image Transform --> Modified by `self.image_resize_strategy` + default_image_transform = timm.data.create_transform(**self.data_cfg, is_training=False) + + # Fix =>> SigLIP & IN1K default transforms resize to *larger* than `self.default_image_size` (crops image)! + if "siglip" in self.timm_path_or_url or "in1k" in self.timm_path_or_url: + assert isinstance(default_image_transform, Compose), "Unexpected `default_image_transform`!" + assert isinstance(default_image_transform.transforms[0], Resize) + default_image_transform = Compose( + [ + Resize(self.default_image_size, interpolation=default_image_transform.transforms[0].interpolation), + *default_image_transform.transforms[1:], + ] + ) + + # Switch on `image_resize_strategy` + if self.image_resize_strategy == "resize-naive": + assert isinstance(default_image_transform, Compose), "Unexpected `default_image_transform`!" + assert isinstance(default_image_transform.transforms[0], Resize) + + target_size = (self.default_image_size, self.default_image_size) + self.image_transform = Compose( + [ + Resize(target_size, interpolation=default_image_transform.transforms[0].interpolation), + *default_image_transform.transforms[1:], + ] + ) + + elif self.image_resize_strategy == "resize-crop": + self.image_transform = default_image_transform + + elif self.image_resize_strategy == "letterbox": + assert isinstance(default_image_transform, Compose), "Unexpected `default_image_transform`!" + assert "mean" in self.data_cfg, "TIMM `data_cfg` missing image normalization mean!" + + # Compute Padding Fill Value (rescaled normalization mean if applicable) + fill = tuple([int(x * 255) for x in self.data_cfg["mean"]]) + + # Build New Transform + self.image_transform = Compose([LetterboxPad(fill), *default_image_transform.transforms]) + + else: + raise ValueError(f"Image Resize Strategy `{self.image_resize_strategy}` is not supported!") + + def get_fsdp_wrapping_policy(self) -> Callable: + """Return a simple FSDP policy that wraps each ViT block and then the _entire_ featurizer.""" + vit_wrap_policy = partial(_module_wrap_policy, module_classes={VisionTransformer}) + transformer_block_policy = partial(transformer_auto_wrap_policy, transformer_layer_cls={Block}) + return partial(_or_policy, policies=[vit_wrap_policy, transformer_block_policy]) + + def forward(self, pixel_values: Union[torch.Tensor, Dict[str, torch.Tensor]]) -> torch.Tensor: + """Runs transformed image/pixel tensor through vision backbone, returning _all_ patch features.""" + if self.image_sequence_len == 1: + return self.featurizer(pixel_values) + else: + return compute_sequence_patches({"img": pixel_values}, {"img": self.featurizer}, self.image_sequence_len)[ + "img" + ] + + @property + def default_image_resolution(self) -> Tuple[int, int, int]: + return self.data_cfg["input_size"] + + @property + def embed_dim(self) -> int: + return self.featurizer.embed_dim + + @property + def num_patches(self) -> int: + return self.featurizer.patch_embed.num_patches * self.image_sequence_len + + @property + def half_precision_dtype(self) -> torch.dtype: + return self.dtype \ No newline at end of file diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/vision/clip_vit.py b/VLA-Adapter-UAV/prismatic/models/backbones/vision/clip_vit.py new file mode 100644 index 0000000000000000000000000000000000000000..c5d162ec9c7d22a475a71917ea4458c2351835c6 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/vision/clip_vit.py @@ -0,0 +1,27 @@ +""" +clip_vit.py +""" + +from prismatic.models.backbones.vision.base_vision import TimmViTBackbone + +# Registry =>> Supported CLIP Vision Backbones (from TIMM) +CLIP_VISION_BACKBONES = { + "clip-vit-b": "vit_base_patch16_clip_224.openai", + "clip-vit-l": "vit_large_patch14_clip_224.openai", + "clip-vit-l-336px": "vit_large_patch14_clip_336.openai", +} + + +# [IMPORTANT] By Default, TIMM initialized OpenAI CLIP models with the standard GELU activation from PyTorch. +# HOWEVER =>> Original OpenAI models were trained with the quick_gelu *approximation* -- while it's +# a decent approximation, the resulting features are *worse*; this was a super tricky bug +# to identify, but luckily there's an easy fix (`override_act_layer`) +class CLIPViTBackbone(TimmViTBackbone): + def __init__(self, vision_backbone_id: str, image_resize_strategy: str, default_image_size: int = 224) -> None: + super().__init__( + vision_backbone_id, + CLIP_VISION_BACKBONES[vision_backbone_id], + image_resize_strategy, + default_image_size=default_image_size, + override_act_layer="quick_gelu" if CLIP_VISION_BACKBONES[vision_backbone_id].endswith(".openai") else None, + ) diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/vision/dinoclip_vit.py b/VLA-Adapter-UAV/prismatic/models/backbones/vision/dinoclip_vit.py new file mode 100644 index 0000000000000000000000000000000000000000..43508b7e4ce5203a27be0396ce4826859d50d593 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/vision/dinoclip_vit.py @@ -0,0 +1,147 @@ +""" +dinoclip_vit.py + +Vision backbone that returns concatenated features from both DINOv2 and CLIP. +""" + +from dataclasses import dataclass +from functools import partial +from typing import Callable, Dict, Tuple + +import timm +import torch +from PIL import Image +from timm.models.vision_transformer import Block, VisionTransformer +from torch.distributed.fsdp.wrap import _module_wrap_policy, _or_policy, transformer_auto_wrap_policy +from torchvision.transforms import Compose, Resize + +from prismatic.models.backbones.vision.base_vision import ImageTransform, LetterboxPad, VisionBackbone, unpack_tuple + +# Registry =>> Supported DinoCLIP Pairs (as TIMM identifiers) +DINOCLIP_VISION_BACKBONES = { + "dinoclip-vit-l-336px": { + "dino": "vit_large_patch14_reg4_dinov2.lvd142m", + "clip": "vit_large_patch14_clip_336.openai", + }, +} + + +@dataclass +class DinoCLIPImageTransform: + dino_image_transform: ImageTransform + clip_image_transform: ImageTransform + is_prismatic: bool = True + + def __call__(self, img: Image, **kwargs: str) -> Dict[str, torch.Tensor]: + return {"dino": self.dino_image_transform(img, **kwargs), "clip": self.clip_image_transform(img, **kwargs)} + + +class DinoCLIPViTBackbone(VisionBackbone): + def __init__(self, vision_backbone_id: str, image_resize_strategy: str, default_image_size: int = 224) -> None: + super().__init__(vision_backbone_id, image_resize_strategy, default_image_size=default_image_size) + self.dino_timm_path_or_url = DINOCLIP_VISION_BACKBONES[vision_backbone_id]["dino"] + self.clip_timm_path_or_url = DINOCLIP_VISION_BACKBONES[vision_backbone_id]["clip"] + + # Initialize both Featurizers (ViTs) by downloading from HF / TIMM Hub if necessary + self.dino_featurizer: VisionTransformer = timm.create_model( + self.dino_timm_path_or_url, pretrained=False, num_classes=0, img_size=self.default_image_size + ) + self.dino_featurizer.eval() + + self.clip_featurizer: VisionTransformer = timm.create_model( + self.clip_timm_path_or_url, pretrained=False, num_classes=0, img_size=self.default_image_size + ) + self.clip_featurizer.eval() + + # Monkey-Patch the `forward()` function of the featurizers to ensure FSDP-compatibility + # => Note: By default set `get_intermediate_layers` to return the *SECOND-TO-LAST* layer patches! + # => TODO (siddk) Remove after resolution of https://github.com/pytorch/pytorch/issues/109385 + self.dino_featurizer.forward = unpack_tuple( + partial(self.dino_featurizer.get_intermediate_layers, n={len(self.dino_featurizer.blocks) - 2}) + ) + self.clip_featurizer.forward = unpack_tuple( + partial(self.clip_featurizer.get_intermediate_layers, n={len(self.clip_featurizer.blocks) - 2}) + ) + + # Get Configs for _both_ Featurizers =>> Note :: Override default image size for larger resolution models + self.dino_data_cfg = timm.data.resolve_model_data_config(self.dino_featurizer) + self.dino_data_cfg["input_size"] = (3, self.default_image_size, self.default_image_size) + + self.clip_data_cfg = timm.data.resolve_model_data_config(self.clip_featurizer) + self.clip_data_cfg["input_size"] = (3, self.default_image_size, self.default_image_size) + + # Initialize *both* Transforms + default_dino_transform = timm.data.create_transform(**self.dino_data_cfg, is_training=False) + default_clip_transform = timm.data.create_transform(**self.clip_data_cfg, is_training=False) + if self.image_resize_strategy == "resize-naive": + assert isinstance(default_dino_transform, Compose), "Unexpected `default_dino_image_transform`!" + assert isinstance(default_clip_transform, Compose), "Unexpected `default_clip_image_transform`!" + assert isinstance(default_dino_transform.transforms[0], Resize) + assert isinstance(default_clip_transform.transforms[0], Resize) + + target_size = (self.default_image_size, self.default_image_size) + dino_transform = Compose( + [ + Resize(target_size, interpolation=default_dino_transform.transforms[0].interpolation), + *default_dino_transform.transforms[1:], + ] + ) + clip_transform = Compose( + [ + Resize(target_size, interpolation=default_clip_transform.transforms[0].interpolation), + *default_clip_transform.transforms[1:], + ] + ) + + self.image_transform = DinoCLIPImageTransform(dino_transform, clip_transform) + + elif self.image_resize_strategy == "resize-crop": + self.image_transform = DinoCLIPImageTransform(default_dino_transform, default_clip_transform) + + elif self.image_resize_strategy == "letterbox": + assert isinstance(default_dino_transform, Compose), "Unexpected `default_dino_transform`!" + assert isinstance(default_clip_transform, Compose), "Unexpected `default_clip_transform`!" + assert "mean" in self.dino_data_cfg and "mean" in self.clip_data_cfg, "DinoCLIP `data_cfg` missing `mean`!" + + # Compute Padding Fill Value(s) (rescaled normalization mean if applicable) + dino_fill = tuple([int(x * 255) for x in self.dino_data_cfg["mean"]]) + clip_fill = tuple([int(x * 255) for x in self.clip_data_cfg["mean"]]) + + # Build New Transform + self.image_transform = DinoCLIPImageTransform( + Compose([LetterboxPad(dino_fill), *default_dino_transform.transforms]), + Compose([LetterboxPad(clip_fill), *default_clip_transform.transforms]), + ) + + else: + raise ValueError(f"Image Resize Strategy `{self.image_resize_strategy}` is not supported!") + + def get_fsdp_wrapping_policy(self) -> Callable: + """Return a simple FSDP policy that wraps each ViT block and then both of the _entire_ featurizers.""" + vit_wrap_policy = partial(_module_wrap_policy, module_classes={VisionTransformer}) + transformer_block_policy = partial(transformer_auto_wrap_policy, transformer_layer_cls={Block}) + return partial(_or_policy, policies=[vit_wrap_policy, transformer_block_policy]) + + def forward(self, pixel_values: Dict[str, torch.Tensor]) -> torch.Tensor: + """Runs the transformed image/pixel tensors through each vision backbone, returning concatenated patches.""" + dino_patches = self.dino_featurizer(pixel_values["dino"]) + clip_patches = self.clip_featurizer(pixel_values["clip"]) + + return torch.cat([dino_patches, clip_patches], dim=2) + + @property + def default_image_resolution(self) -> Tuple[int, int, int]: + return self.dino_data_cfg["input_size"] + + @property + def embed_dim(self) -> int: + return self.dino_featurizer.embed_dim + self.clip_featurizer.embed_dim + + @property + def num_patches(self) -> int: + assert self.dino_featurizer.patch_embed.num_patches == self.clip_featurizer.patch_embed.num_patches + return self.dino_featurizer.patch_embed.num_patches + + @property + def half_precision_dtype(self) -> torch.dtype: + return torch.bfloat16 diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/vision/dinosiglip_vit.py b/VLA-Adapter-UAV/prismatic/models/backbones/vision/dinosiglip_vit.py new file mode 100644 index 0000000000000000000000000000000000000000..c57877668305301c549ae584ae579f23abb145d0 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/vision/dinosiglip_vit.py @@ -0,0 +1,231 @@ +""" +dinosiglip_vit.py + +Vision backbone that returns concatenated features from both DINOv2 and SigLIP. +""" + +from dataclasses import dataclass +from functools import partial +import os +from pathlib import Path +from typing import Callable, Dict, Tuple + +import timm +import torch +from PIL import Image +from timm.models.vision_transformer import Block, VisionTransformer +from torch.distributed.fsdp.wrap import _module_wrap_policy, _or_policy, transformer_auto_wrap_policy +from torchvision.transforms import Compose, Resize + +from prismatic.models.backbones.vision.base_vision import ( + ImageTransform, + LetterboxPad, + VisionBackbone, + compute_sequence_patches, + unpack_tuple, +) + +# Registry =>> Supported DinoSigLIP Pairs (as TIMM identifiers) +DINOSigLIP_VISION_BACKBONES = { + "dinosiglip-vit-so-224px": { + "dino": "vit_large_patch14_reg4_dinov2.lvd142m", + "siglip": "vit_so400m_patch14_siglip_224", + }, + "dinosiglip-vit-so-384px": { + "dino": "vit_large_patch14_reg4_dinov2.lvd142m", + "siglip": "vit_so400m_patch14_siglip_384", + }, +} + + +@dataclass +class DinoSigLIPImageTransform: + dino_image_transform: ImageTransform + siglip_image_transform: ImageTransform + is_prismatic: bool = True + + def __call__(self, img: Image, **kwargs: str) -> Dict[str, torch.Tensor]: + return {"dino": self.dino_image_transform(img, **kwargs), "siglip": self.siglip_image_transform(img, **kwargs)} + + +def _find_local_checkpoint(model_dir: Path) -> Path: + """Find a local timm/HF checkpoint file for a vision backbone.""" + if model_dir.is_file(): + return model_dir + + if not model_dir.exists(): + raise FileNotFoundError(f"Local vision model directory does not exist: {model_dir}") + + patterns = ("*.safetensors", "*.bin", "*.pth", "*.pt") + for pattern in patterns: + matches = sorted(model_dir.glob(pattern)) + if matches: + return matches[0] + + snapshots_dir = model_dir / "snapshots" + if snapshots_dir.exists(): + for pattern in patterns: + matches = sorted(snapshots_dir.glob(f"**/{pattern}")) + if matches: + return matches[0] + + raise FileNotFoundError( + f"No local checkpoint found under {model_dir}. Expected one of: {', '.join(patterns)}" + ) + + +class DinoSigLIPViTBackbone(VisionBackbone): + def __init__( + self, + vision_backbone_id: str, + image_resize_strategy: str, + default_image_size: int = 224, + image_sequence_len: int = 1, + vision_models_path: str = None, + ) -> None: + super().__init__( + vision_backbone_id, + image_resize_strategy, + default_image_size=default_image_size, + image_sequence_len=image_sequence_len, + ) + self.dino_timm_path_or_url = DINOSigLIP_VISION_BACKBONES[vision_backbone_id]["dino"] + self.siglip_timm_path_or_url = DINOSigLIP_VISION_BACKBONES[vision_backbone_id]["siglip"] + + dino_kwargs = {"pretrained": True, "num_classes": 0, "img_size": self.default_image_size} + siglip_kwargs = {"pretrained": True, "num_classes": 0, "img_size": self.default_image_size} + + if vision_models_path is None: + vision_models_path = os.environ.get("LOCAL_TIMM_PATH") + + if vision_models_path: + vision_models_dir = Path(vision_models_path) + dino_checkpoint = _find_local_checkpoint(vision_models_dir / self.dino_timm_path_or_url) + siglip_checkpoint = _find_local_checkpoint(vision_models_dir / self.siglip_timm_path_or_url) + dino_kwargs["pretrained_cfg_overlay"] = {"file": str(dino_checkpoint)} + siglip_kwargs["pretrained_cfg_overlay"] = {"file": str(siglip_checkpoint)} + + # Initialize both Featurizers (ViTs), using original timm pretrained loading + # unless a local checkpoint path is provided. + self.dino_featurizer: VisionTransformer = timm.create_model( + self.dino_timm_path_or_url, **dino_kwargs + ) + self.dino_featurizer.eval() + + self.siglip_featurizer: VisionTransformer = timm.create_model( + self.siglip_timm_path_or_url, **siglip_kwargs + ) + self.siglip_featurizer.eval() + + # Monkey-Patch the `forward()` function of the featurizers to ensure FSDP-compatibility + # => Note: By default set `get_intermediate_layers` to return the *SECOND-TO-LAST* layer patches! + # => TODO (siddk) Remove after resolution of https://github.com/pytorch/pytorch/issues/109385 + self.dino_featurizer.forward = unpack_tuple( + partial(self.dino_featurizer.get_intermediate_layers, n={len(self.dino_featurizer.blocks) - 2}) + ) + self.siglip_featurizer.forward = unpack_tuple( + partial(self.siglip_featurizer.get_intermediate_layers, n={len(self.siglip_featurizer.blocks) - 2}) + ) + + # Get Configs for _both_ Featurizers =>> Note :: Override default image size for larger resolution models + self.dino_data_cfg = timm.data.resolve_model_data_config(self.dino_featurizer) + self.dino_data_cfg["input_size"] = (3, self.default_image_size, self.default_image_size) + + self.siglip_data_cfg = timm.data.resolve_model_data_config(self.siglip_featurizer) + self.siglip_data_cfg["input_size"] = (3, self.default_image_size, self.default_image_size) + + # Initialize *both* Transforms + default_dino_transform = timm.data.create_transform(**self.dino_data_cfg, is_training=False) + default_siglip_transform = timm.data.create_transform(**self.siglip_data_cfg, is_training=False) + + # Fix =>> SigLIP default transform resizes to *larger* than `self.default_image_size` (crops image)!! + assert isinstance(default_siglip_transform, Compose), "Unexpected `default_image_transform`!" + assert isinstance(default_siglip_transform.transforms[0], Resize) + default_siglip_transform = Compose( + [ + Resize(self.default_image_size, interpolation=default_siglip_transform.transforms[0].interpolation), + *default_siglip_transform.transforms[1:], + ] + ) + + if self.image_resize_strategy == "resize-naive": + assert isinstance(default_dino_transform, Compose), "Unexpected `default_dino_image_transform`!" + assert isinstance(default_siglip_transform, Compose), "Unexpected `default_siglip_image_transform`!" + assert isinstance(default_dino_transform.transforms[0], Resize) + assert isinstance(default_siglip_transform.transforms[0], Resize) + + target_size = (self.default_image_size, self.default_image_size) + dino_transform = Compose( + [ + Resize(target_size, interpolation=default_dino_transform.transforms[0].interpolation), + *default_dino_transform.transforms[1:], + ] + ) + siglip_transform = Compose( + [ + Resize(target_size, interpolation=default_siglip_transform.transforms[0].interpolation), + *default_siglip_transform.transforms[1:], + ] + ) + + self.image_transform = DinoSigLIPImageTransform(dino_transform, siglip_transform) + + elif self.image_resize_strategy == "resize-crop": + self.image_transform = DinoSigLIPImageTransform(default_dino_transform, default_siglip_transform) + + elif self.image_resize_strategy == "letterbox": + assert isinstance(default_dino_transform, Compose), "Unexpected `default_dino_transform`!" + assert isinstance(default_siglip_transform, Compose), "Unexpected `default_siglip_transform`!" + assert ( + "mean" in self.dino_data_cfg and "mean" in self.siglip_data_cfg + ), "DinoSigLIP `data_cfg` missing `mean`!" + + # Compute Padding Fill Value(s) (rescaled normalization mean if applicable) + dino_fill = tuple([int(x * 255) for x in self.dino_data_cfg["mean"]]) + siglip_fill = tuple([int(x * 255) for x in self.siglip_data_cfg["mean"]]) + + # Build New Transform + self.image_transform = DinoSigLIPImageTransform( + Compose([LetterboxPad(dino_fill), *default_dino_transform.transforms]), + Compose([LetterboxPad(siglip_fill), *default_siglip_transform.transforms]), + ) + + else: + raise ValueError(f"Image Resize Strategy `{self.image_resize_strategy}` is not supported!") + + def get_fsdp_wrapping_policy(self) -> Callable: + """Return a simple FSDP policy that wraps each ViT block and then both of the _entire_ featurizers.""" + vit_wrap_policy = partial(_module_wrap_policy, module_classes={VisionTransformer}) + transformer_block_policy = partial(transformer_auto_wrap_policy, transformer_layer_cls={Block}) + return partial(_or_policy, policies=[vit_wrap_policy, transformer_block_policy]) + + def forward(self, pixel_values: Dict[str, torch.Tensor]) -> torch.Tensor: + """Runs the transformed image/pixel tensors through each vision backbone, returning concatenated patches.""" + if self.image_sequence_len == 1: + dino_patches = self.dino_featurizer(pixel_values["dino"]) + siglip_patches = self.siglip_featurizer(pixel_values["siglip"]) + else: + featurizers = { + "dino": self.dino_featurizer, + "siglip": self.siglip_featurizer, + } + patches = compute_sequence_patches(pixel_values, featurizers, self.image_sequence_len) + dino_patches, siglip_patches = patches["dino"], patches["siglip"] + return torch.cat([dino_patches, siglip_patches], dim=2) + + @property + def default_image_resolution(self) -> Tuple[int, int, int]: + return self.dino_data_cfg["input_size"] + + @property + def embed_dim(self) -> int: + return self.dino_featurizer.embed_dim + self.siglip_featurizer.embed_dim + + @property + def num_patches(self) -> int: + assert self.dino_featurizer.patch_embed.num_patches == self.siglip_featurizer.patch_embed.num_patches + return self.dino_featurizer.patch_embed.num_patches * self.image_sequence_len + + @property + def half_precision_dtype(self) -> torch.dtype: + return torch.bfloat16 diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/vision/dinov2_vit.py b/VLA-Adapter-UAV/prismatic/models/backbones/vision/dinov2_vit.py new file mode 100644 index 0000000000000000000000000000000000000000..e1e858827100833764394f062693b1dd38c6015a --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/vision/dinov2_vit.py @@ -0,0 +1,19 @@ +""" +dinov2_vit.py +""" + +from prismatic.models.backbones.vision.base_vision import TimmViTBackbone + +# Registry =>> Supported DINOv2 Vision Backbones (from TIMM) =>> Note:: Using DINOv2 w/ Registers! +# => Reference: https://arxiv.org/abs/2309.16588 +DINOv2_VISION_BACKBONES = {"dinov2-vit-l": "vit_large_patch14_reg4_dinov2.lvd142m"} + + +class DinoV2ViTBackbone(TimmViTBackbone): + def __init__(self, vision_backbone_id: str, image_resize_strategy: str, default_image_size: int = 224) -> None: + super().__init__( + vision_backbone_id, + DINOv2_VISION_BACKBONES[vision_backbone_id], + image_resize_strategy, + default_image_size=default_image_size, + ) diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/vision/in1k_vit.py b/VLA-Adapter-UAV/prismatic/models/backbones/vision/in1k_vit.py new file mode 100644 index 0000000000000000000000000000000000000000..9f0f6d3e0082e7e15f963b4123cdabe1deceb55d --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/vision/in1k_vit.py @@ -0,0 +1,22 @@ +""" +in1k_vit.py + +Vision Transformers trained / finetuned on ImageNet (ImageNet-21K =>> ImageNet-1K) +""" + +from prismatic.models.backbones.vision.base_vision import TimmViTBackbone + +# Registry =>> Supported Vision Backbones (from TIMM) +IN1K_VISION_BACKBONES = { + "in1k-vit-l": "vit_large_patch16_224.augreg_in21k_ft_in1k", +} + + +class IN1KViTBackbone(TimmViTBackbone): + def __init__(self, vision_backbone_id: str, image_resize_strategy: str, default_image_size: int = 224) -> None: + super().__init__( + vision_backbone_id, + IN1K_VISION_BACKBONES[vision_backbone_id], + image_resize_strategy, + default_image_size=default_image_size, + ) diff --git a/VLA-Adapter-UAV/prismatic/models/backbones/vision/siglip_vit.py b/VLA-Adapter-UAV/prismatic/models/backbones/vision/siglip_vit.py new file mode 100644 index 0000000000000000000000000000000000000000..2ffdbbe8d343524d0914e40742dcfa2f11e7cd4b --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/backbones/vision/siglip_vit.py @@ -0,0 +1,24 @@ +""" +siglip_vit.py +""" + +from prismatic.models.backbones.vision.base_vision import TimmViTBackbone + +# Registry =>> Supported SigLIP Vision Backbones (from TIMM) =>> Note:: Using SigLIP w/ Patch = 14 (but SO400M Arch) +SIGLIP_VISION_BACKBONES = { + "siglip-vit-b16-224px": "vit_base_patch16_siglip_224", + "siglip-vit-b16-256px": "vit_base_patch16_siglip_256", + "siglip-vit-b16-384px": "vit_base_patch16_siglip_384", + "siglip-vit-so400m": "vit_so400m_patch14_siglip_224", + "siglip-vit-so400m-384px": "vit_so400m_patch14_siglip_384", +} + + +class SigLIPViTBackbone(TimmViTBackbone): + def __init__(self, vision_backbone_id: str, image_resize_strategy: str, default_image_size: int = 224) -> None: + super().__init__( + vision_backbone_id, + SIGLIP_VISION_BACKBONES[vision_backbone_id], + image_resize_strategy, + default_image_size=default_image_size, + ) diff --git a/VLA-Adapter-UAV/prismatic/models/film_vit_wrapper.py b/VLA-Adapter-UAV/prismatic/models/film_vit_wrapper.py new file mode 100644 index 0000000000000000000000000000000000000000..94618ca967783d94ff347195641335b912cc66b2 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/film_vit_wrapper.py @@ -0,0 +1,276 @@ +"""Implementation of additional modules for the VLA's vision transformer.""" + +from functools import partial +from typing import Any, Callable, Sequence, Tuple, Union + +import torch +import torch.nn as nn +from timm.models.vision_transformer import VisionTransformer + + +class FiLMedVisionTransformerBlock(nn.Module): + """ + Wrapper for ViT blocks that adds components to implement FiLM language conditioning. + + Modulates visual feature embeddings via + x = (1 + gamma) * x + beta, + where x is visual feature and gamma and beta are learned projections of the average language embedding. + gamma and beta have D dimensions each, where D is the number of hidden dimensions in the ViT's features. + + NOTE #1 (Moo Jin): + In convolutional neural architectures, the "feature" in FiLM is an entire feature map, i.e., each channel in a + convolutional layer (so gamma and beta have C dimensions, where C is the number of channels). Therefore, FiLM's + scaling and shifting is applied across all spatial locations for conv nets -- i.e., it is spatially agnostic. + + For vision transformer architectures, you may consider individual patch embeddings as individual "features" at first + instinct, but this would make FiLM scaling and shifting spatially local. In order to make the modulation spatially + global like in convolutional architectures, we should apply the scaling and shifting to each dimension of each patch + embedding. I.e., gamma and beta should have D dimensions, where D is the number of dimensions in a visual embedding. + + NOTE #2 (Moo Jin): + x = (1 + gamma) * x + beta is used in the original FiLM paper as opposed to x = gamma * x + beta (see section 7.2 in + https://arxiv.org/pdf/1709.07871.pdf). Since gamma and beta are close to zero upon initialization, this leads to an + identity transformation at the beginning of training, which minimizes perturbation to the pretrained representation. + """ + + def __init__( + self, + block, + vision_dim: int, + llm_dim: int, + ): + """ + Initializes FiLM ViT block wrapper. + + Args: + block (timm.models.vision_transformer.Block): Vision transformer block. + vision_dim (int): Number of hidden dimensions in visual embeddings. + llm_dim (int): Number of hidden dimensions in language embeddings. + """ + super().__init__() + self.block = block + # Initialize gamma and beta projectors + self.scale = nn.Linear(llm_dim, vision_dim) + self.shift = nn.Linear(llm_dim, vision_dim) + + def forward(self, x, average_language_embedding): + """ + Overrides the vision transformer block forward pass to use FiLM. + + Args: + x (torch.Tensor): Visual input embeddings, (batch_size, vision_seq_len, vision_dim). + average_language_embedding (torch.Tensor): Average language embedding for task, (batch_size, llm_dim). + """ + # Project average language embedding to visual embedding space to get gamma and beta + gamma = self.scale(average_language_embedding) # (batch_size, vision_dim) + beta = self.shift(average_language_embedding) # (batch_size, vision_dim) + + # Pass visual inputs through attention portion of original block + x = x + self.block.drop_path1(self.block.ls1(self.block.attn(self.block.norm1(x)))) + + # Modulate intermediate visual representations via FiLM + x = x * (1 + gamma.view(gamma.shape[0], 1, gamma.shape[1])) + beta.view(beta.shape[0], 1, beta.shape[1]) + + # Pass visual inputs through feedforward portion of original block + x = x + self.block.drop_path2(self.block.ls2(self.block.mlp(self.block.norm2(x)))) + + return x + + +class NullVisionTransformerBlockWrapper(nn.Module): + """ + Null wrapper for ViT blocks that doesn't do anything; just calls the original block's forward function. + Useful if you want to use a block wrapper every X blocks instead of every block (e.g., to reduce the number of new + parameters introduced by a new wrapper). + """ + + def __init__( + self, + block, + ): + super().__init__() + self.block = block + + def forward(self, x, average_language_embedding): + return self.block(x) + + +def unpack_tuple(fn: Callable[[Any], Tuple[Any]]) -> Callable[[Any], Any]: + """Utility function for monkey-patching functions.""" + + def wrapper(*args: Any, **kwargs: Any) -> Any: + result = fn(*args, **kwargs) + return result[0] if isinstance(result, tuple) else result + + return wrapper + + +class FiLMedVisionTransformer(VisionTransformer): + """ + Wrapper for timm.models.vision_transformer.VisionTransformer that overrides functions to enable infusing language + embeddings into visual embeddings via FiLM. + """ + + def _intermediate_layers( + self, + x: torch.Tensor, + language_embeddings: torch.Tensor, + n: Union[int, Sequence] = 1, + ): + """ + Copy of timm.models.vision_transformer.VisionTransformer._intermediate_layers() with modifications + to take in language embeddings as additional input. + """ + outputs, num_blocks = [], len(self.blocks) + take_indices = set(range(num_blocks - n, num_blocks) if isinstance(n, int) else n) + + # forward pass + x = self.patch_embed(x) + x = self._pos_embed(x) + x = self.patch_drop(x) + x = self.norm_pre(x) + for i, blk in enumerate(self.blocks): + x = blk(x, language_embeddings) # Modified to receive language_embeddings + if i in take_indices: + outputs.append(x) + + return outputs + + def get_intermediate_layers( + self, + x: torch.Tensor, + language_embeddings: torch.Tensor, + n: Union[int, Sequence] = 1, + reshape: bool = False, + return_prefix_tokens: bool = False, + norm: bool = False, + ) -> Tuple[Union[torch.Tensor, Tuple[torch.Tensor]]]: + """ + Copy of timm.models.vision_transformer.VisionTransformer.get_intermediate_layers() with modifications + to allow language embeddings as additional input. + """ + # take last n blocks if n is an int, if in is a sequence, select by matching indices + outputs = self._intermediate_layers(x, language_embeddings, n) + if norm: + outputs = [self.norm(out) for out in outputs] + prefix_tokens = [out[:, 0 : self.num_prefix_tokens] for out in outputs] + outputs = [out[:, self.num_prefix_tokens :] for out in outputs] + + if reshape: + grid_size = self.patch_embed.grid_size + outputs = [ + out.reshape(x.shape[0], grid_size[0], grid_size[1], -1).permute(0, 3, 1, 2).contiguous() + for out in outputs + ] + + if return_prefix_tokens: + return tuple(zip(outputs, prefix_tokens)) + return tuple(outputs) + + +class FiLMedPrismaticVisionBackbone(nn.Module): + """ + Wrapper for OpenVLA's vision backbone that implements feature-wise linear modulation (FiLM). + + Wraps the Vision Transformers in the vision backbone to enable language conditioning through FiLM. + Supports processing 1-3 images using dual vision backbones (SigLIP + DINOv2). + """ + + def __init__( + self, + vision_backbone, + llm_dim: int = 4096, # 4096 for Llama-2 7B + ) -> None: + """ + Initializes FiLM wrapper. + + Args: + vision_backbone (PrismaticVisionBackbone): Base vision backbone. + llm_dim (int): Dimension of language model embeddings. + """ + super().__init__() + self.vision_backbone = vision_backbone + self.llm_dim = llm_dim + + # Wrap vision transformers + self._wrap_vit(self.vision_backbone.featurizer) # SigLIP + if self.vision_backbone.use_fused_vision_backbone: + self._wrap_vit(self.vision_backbone.fused_featurizer) # DINOv2 + + def _wrap_vit(self, vit) -> None: + """ + Creates wrapper around an individual vision transformer to allow for infusion of language inputs. + + Args: + vit (VisionTransformer): Original vision transformer. + """ + # Wrap vision transformer blocks + block_wrappers = [] + for block in vit.blocks: + block_wrappers.append( + FiLMedVisionTransformerBlock(block=block, vision_dim=vit.num_features, llm_dim=self.llm_dim) + ) + vit.blocks = nn.Sequential(*block_wrappers) + + # Wrap vision transformer with new class that overrides functions used for forward pass + vit.__class__ = FiLMedVisionTransformer + vit.forward = unpack_tuple(partial(vit.get_intermediate_layers, n={len(vit.blocks) - 2})) + + def get_num_patches(self) -> int: + """Returns the number of vision patches output by the vision backbone.""" + return self.vision_backbone.get_num_patches() + + def get_num_images_in_input(self) -> int: + """Returns the number of input images for the vision backbone.""" + return self.vision_backbone.get_num_images_in_input() + + def set_num_images_in_input(self, num_images_in_input: int) -> None: + """Sets the number of input images for the vision backbone.""" + self.vision_backbone.set_num_images_in_input(num_images_in_input) + + def forward(self, pixel_values: torch.Tensor, language_embeddings: torch.Tensor) -> torch.Tensor: + """ + Implements the forward pass for the vision backbone with FiLM to infuse language inputs into visual features. + + Identical to PrismaticVisionBackbone.forward() except that language embeddings are also used as input. + + Args: + pixel_values (torch.Tensor): Pixels for input image(s), (B, C, H, W). + language_embeddings (torch.Tensor): Language embeddings for the task description, (B, seq_len, llm_dim). + """ + # For FiLM: Average the language embeddings of the task description + average_language_embedding = language_embeddings.mean(dim=1) + + if self.get_num_images_in_input() == 1: + if not self.vision_backbone.use_fused_vision_backbone: + return self.vision_backbone.featurizer(pixel_values, average_language_embedding) + + # Split `pixel_values :: [bsz, 2 * 3, resolution, resolution]` =>> featurize =>> channel stack + img, img_fused = torch.split(pixel_values, [3, 3], dim=1) + patches = self.vision_backbone.featurizer(img, average_language_embedding) + patches_fused = self.vision_backbone.fused_featurizer(img_fused, average_language_embedding) + + return torch.cat([patches, patches_fused], dim=2) + + else: + assert self.vision_backbone.use_fused_vision_backbone, "Multi-image inputs require using fused backbone!" + + # Split `pixel_values` into individual images (each with 6 channels: 3 for SigLIP + 3 for DINOv2) + images = torch.split(pixel_values, [6] * self.get_num_images_in_input(), dim=1) + + # Process each image and collect patches + all_patches = [] + for img in images: + # Split each image further into two stacks of channels (each with 3 channels) + img_regular, img_fused = torch.split(img, [3, 3], dim=1) + + # Get patches from both SigLIP and DINOv2 vision transformers + patches = self.vision_backbone.featurizer(img_regular, average_language_embedding) + patches_fused = self.vision_backbone.fused_featurizer(img_fused, average_language_embedding) + + # Concatenate SigLIP and DINOv2 patches along the hidden dimension + combined_patches = torch.cat([patches, patches_fused], dim=2) + all_patches.append(combined_patches) + + # Concatenate all patches along the patch dimension + return torch.cat(all_patches, dim=1) diff --git a/VLA-Adapter-UAV/prismatic/models/first_frame_cot_memory.py b/VLA-Adapter-UAV/prismatic/models/first_frame_cot_memory.py new file mode 100644 index 0000000000000000000000000000000000000000..3ff8674d96a46344262448a7289553ef44c8d9b6 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/first_frame_cot_memory.py @@ -0,0 +1,74 @@ +"""首帧、初始状态与 Flight-CoT 的紧凑记忆模块。""" + +from __future__ import annotations + +import torch +import torch.nn as nn + + +class FirstFrameCoTMemory(nn.Module): + """将一次生成的全局信息压缩成可供动作头读取的记忆 token。 + + 输入仅来自 episode 的首帧：首帧 VLM hidden states、初始状态以及 + CoT 解码器产生的 latent plan tokens。动作头在每个控制时刻通过已有的 + cross-attention 读取本模块的输出，而不会读取教师 CoT 文本。 + """ + + def __init__( + self, + hidden_dim: int, + proprio_dim: int = 4, + num_memory_tokens: int = 8, + num_heads: int = 8, + dropout: float = 0.0, + ) -> None: + super().__init__() + if hidden_dim % num_heads: + raise ValueError("hidden_dim 必须能被 num_heads 整除") + self.memory_queries = nn.Embedding(num_memory_tokens, hidden_dim) + self.initial_state_projector = nn.Sequential( + nn.Linear(proprio_dim, hidden_dim), nn.GELU(), nn.Linear(hidden_dim, hidden_dim) + ) + self.source_type = nn.Embedding(3, hidden_dim) # 首帧视觉 / 初始状态 / CoT + self.read_memory = nn.MultiheadAttention(hidden_dim, num_heads, dropout=dropout, batch_first=True) + self.norm = nn.LayerNorm(hidden_dim) + # 初始时几乎不改变基线动作策略，但仍保留可学习梯度。 + self.memory_gate = nn.Parameter(torch.tensor(-4.0)) + + def forward( + self, + first_frame_hidden_states: torch.Tensor, + initial_proprio: torch.Tensor, + plan_tokens: torch.Tensor | None = None, + ) -> torch.Tensor: + """返回 ``[B, num_memory_tokens, H]`` 的 episode 级记忆。""" + if first_frame_hidden_states.ndim != 3: + raise ValueError("first_frame_hidden_states 应为 [B, T, H]") + if plan_tokens is None: + dtype = self.memory_queries.weight.dtype + device = first_frame_hidden_states.device + batch_size = first_frame_hidden_states.shape[0] + visual = first_frame_hidden_states.to(dtype=dtype) + self.source_type.weight[0].to(device=device, dtype=dtype) + state = self.initial_state_projector(initial_proprio.to(device=device, dtype=dtype)).unsqueeze(1) + state = state + self.source_type.weight[1].to(device=device, dtype=dtype) + source = torch.cat((visual, state), dim=1) + queries = self.memory_queries.weight.unsqueeze(0).expand(batch_size, -1, -1).to(dtype=dtype) + memory, _ = self.read_memory(query=queries, key=source, value=source, need_weights=False) + return self.norm(memory) * 0.5 + if plan_tokens.ndim != 3: + raise ValueError("plan_tokens 应为 [B, P, H]") + + # 首帧 VLA hidden states 常为 bfloat16，而该轻量模块默认 float32。 + # 统一为模块参数 dtype，随后由动作头负责转为自己的计算 dtype。 + dtype = self.memory_queries.weight.dtype + device = first_frame_hidden_states.device + batch_size = first_frame_hidden_states.shape[0] + visual = first_frame_hidden_states.to(dtype=dtype) + self.source_type.weight[0].to(device=device, dtype=dtype) + state = self.initial_state_projector(initial_proprio.to(device=device, dtype=dtype)).unsqueeze(1) + state = state + self.source_type.weight[1].to(device=device, dtype=dtype) + cot = plan_tokens.to(dtype=dtype) + self.source_type.weight[2].to(device=device, dtype=dtype) + source = torch.cat((visual, state, cot), dim=1) + + queries = self.memory_queries.weight.unsqueeze(0).expand(batch_size, -1, -1).to(dtype=dtype) + memory, _ = self.read_memory(query=queries, key=source, value=source, need_weights=False) + return self.norm(memory) * torch.sigmoid(self.memory_gate) diff --git a/VLA-Adapter-UAV/prismatic/models/first_frame_memory.py b/VLA-Adapter-UAV/prismatic/models/first_frame_memory.py new file mode 100644 index 0000000000000000000000000000000000000000..ee0a56ca148b8abd08cbedfe291d8b9fcad54d97 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/first_frame_memory.py @@ -0,0 +1,44 @@ +"""由首帧视觉信息和初始状态构建 episode 级记忆。""" + +from __future__ import annotations + +import torch +import torch.nn as nn + + +class FirstFrameEpisodeMemory(nn.Module): + """把首帧表征与初始状态压缩为供动作头读取的固定数量记忆 token。""" + + def __init__( + self, + hidden_dim: int, + proprio_dim: int = 4, + num_memory_tokens: int = 8, + num_heads: int = 8, + dropout: float = 0.0, + ) -> None: + super().__init__() + if hidden_dim % num_heads: + raise ValueError("hidden_dim 必须能被 num_heads 整除") + self.memory_queries = nn.Embedding(num_memory_tokens, hidden_dim) + self.initial_state_projector = nn.Sequential( + nn.Linear(proprio_dim, hidden_dim), nn.GELU(), nn.Linear(hidden_dim, hidden_dim) + ) + self.source_type = nn.Embedding(2, hidden_dim) + self.read_memory = nn.MultiheadAttention(hidden_dim, num_heads, dropout=dropout, batch_first=True) + self.norm = nn.LayerNorm(hidden_dim) + + def forward(self, first_frame_hidden_states: torch.Tensor, initial_proprio: torch.Tensor) -> torch.Tensor: + if first_frame_hidden_states.ndim != 3: + raise ValueError("first_frame_hidden_states 应为 [B, T, H]") + dtype = self.memory_queries.weight.dtype + device = first_frame_hidden_states.device + batch_size = first_frame_hidden_states.shape[0] + visual = first_frame_hidden_states.to(dtype=dtype) + visual = visual + self.source_type.weight[0].to(device=device, dtype=dtype) + state = self.initial_state_projector(initial_proprio.to(device=device, dtype=dtype)).unsqueeze(1) + state = state + self.source_type.weight[1].to(device=device, dtype=dtype) + source = torch.cat((visual, state), dim=1) + queries = self.memory_queries.weight.unsqueeze(0).expand(batch_size, -1, -1).to(dtype=dtype) + memory, _ = self.read_memory(query=queries, key=source, value=source, need_weights=False) + return self.norm(memory) diff --git a/VLA-Adapter-UAV/prismatic/models/flight_plan_decoder.py b/VLA-Adapter-UAV/prismatic/models/flight_plan_decoder.py new file mode 100644 index 0000000000000000000000000000000000000000..60aa09304e7f97ed23b163534bf52d53de0f4521 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/flight_plan_decoder.py @@ -0,0 +1,151 @@ +"""Latent Flight-CoT planner used to condition the UAV action decoder. + +The planner intentionally emits a compact set of plan tokens rather than +autoregressively emitting text at every control step. A textual Flight-CoT can +be decoded from the same shared VLA features during training/debugging, while +the action policy consumes these tokens at control rate. +""" + +from __future__ import annotations + +import torch +import torch.nn as nn +import torch.nn.functional as F + + +class FlightPlanDecoder(nn.Module): + """Decode a task-level plan from VLA hidden states. + + ``multi_layer_hidden_states`` has the layout already used by the existing + action head: ``[batch, llm_layers, visual_tokens + action_tokens, hidden]``. + The decoder uses the final LLM layer as its cross-attention memory and + returns ``num_plan_tokens`` latent plan tokens. + """ + + def __init__( + self, + hidden_dim: int, + num_task_tokens: int = 512, + num_plan_tokens: int = 16, + num_layers: int = 2, + num_heads: int = 8, + dropout: float = 0.0, + ) -> None: + super().__init__() + if hidden_dim % num_heads: + raise ValueError("hidden_dim must be divisible by num_heads") + + self.num_task_tokens = num_task_tokens + self.plan_queries = nn.Embedding(num_plan_tokens, hidden_dim) + self.layers = nn.ModuleList( + [ + nn.TransformerDecoderLayer( + d_model=hidden_dim, + nhead=num_heads, + dim_feedforward=4 * hidden_dim, + dropout=dropout, + batch_first=True, + norm_first=True, + activation="gelu", + ) + for _ in range(num_layers) + ] + ) + self.norm = nn.LayerNorm(hidden_dim) + self.text_layers = nn.ModuleList([ + nn.TransformerDecoderLayer(d_model=hidden_dim, nhead=num_heads, dim_feedforward=4 * hidden_dim, + dropout=dropout, batch_first=True, norm_first=True, activation="gelu") + for _ in range(num_layers) + ]) + self.text_norm = nn.LayerNorm(hidden_dim) + + def forward( + self, + multi_layer_hidden_states: torch.Tensor, + proprio: torch.Tensor | None = None, + proprio_projector: nn.Module | None = None, + cot_input_ids: torch.Tensor | None = None, + token_embedding: nn.Module | None = None, + ) -> torch.Tensor | tuple[torch.Tensor, torch.Tensor]: + """Return latent plan tokens and optional tied-vocabulary Flight-CoT logits.""" + if multi_layer_hidden_states.ndim != 4: + raise ValueError("Expected [batch, layers, tokens, hidden] VLA states") + + # The final layer holds the most task-conditioned visual/action states. + # 冻结 VLA 通常以 bfloat16 输出，而规划解码器默认以 float32 训练。 + # 在模块边界统一 dtype，避免 Transformer LayerNorm 混合 dtype 报错。 + module_dtype = self.plan_queries.weight.dtype + memory = multi_layer_hidden_states[:, -1].to(dtype=module_dtype) + batch_size, _, hidden_dim = memory.shape + + # State is made visible to the planner without making it responsible for + # the action head's proprioception path. + if proprio is not None and proprio_projector is not None: + projector_dtype = next(proprio_projector.parameters()).dtype + state = proprio.reshape(batch_size, -1).to(memory.device, dtype=projector_dtype) + state = proprio_projector(state).to(dtype=memory.dtype).unsqueeze(1) + memory = torch.cat([memory, state], dim=1) + + plan = self.plan_queries.weight.unsqueeze(0).expand(batch_size, -1, -1).to(dtype=memory.dtype) + for layer in self.layers: + plan = layer(tgt=plan, memory=memory) + plan = self.norm(plan) + if cot_input_ids is None: + return plan + if token_embedding is None: + raise ValueError("token_embedding is required for Flight-CoT decoding") + text = token_embedding(cot_input_ids).to(dtype=plan.dtype) + length = text.shape[1] + causal_mask = torch.full((length, length), float("-inf"), device=text.device, dtype=text.dtype) + causal_mask = torch.triu(causal_mask, diagonal=1) + for layer in self.text_layers: + text = layer(tgt=text, memory=plan, tgt_mask=causal_mask) + # 词表 embedding 可能仍是 bfloat16；仅将输入转回其 dtype，避免复制整张 + # 大词表权重为 float32。 + text = self.text_norm(text).to(dtype=token_embedding.weight.dtype) + return plan, F.linear(text, token_embedding.weight) + + @torch.inference_mode() + def decode_text( + self, + plan_tokens: torch.Tensor, + token_embedding: nn.Module, + bos_token_id: int, + eos_token_id: int | None = None, + max_new_tokens: int = 160, + ) -> torch.Tensor: + """Greedily decode a human-readable CoT from latent plan tokens for debugging. + + This method is deliberately separate from the action path: actions always + consume ``plan_tokens`` directly. The returned text is only for inspecting + what the student planner has learned on an episode's first frame. + """ + if plan_tokens.ndim != 3: + raise ValueError("Expected [batch, plan_tokens, hidden] latent plan") + if max_new_tokens < 1: + raise ValueError("max_new_tokens must be positive") + + batch_size = plan_tokens.shape[0] + generated = torch.full( + (batch_size, 1), bos_token_id, dtype=torch.long, device=plan_tokens.device + ) + finished = torch.zeros(batch_size, dtype=torch.bool, device=plan_tokens.device) + + for _ in range(max_new_tokens): + text = token_embedding(generated).to(dtype=plan_tokens.dtype) + length = text.shape[1] + causal_mask = torch.full( + (length, length), float("-inf"), device=text.device, dtype=text.dtype + ) + causal_mask = torch.triu(causal_mask, diagonal=1) + for layer in self.text_layers: + text = layer(tgt=text, memory=plan_tokens, tgt_mask=causal_mask) + logits = F.linear(self.text_norm(text).to(dtype=token_embedding.weight.dtype), token_embedding.weight) + next_token = logits[:, -1].argmax(dim=-1) + if eos_token_id is not None: + next_token = torch.where(finished, torch.full_like(next_token, eos_token_id), next_token) + finished |= next_token.eq(eos_token_id) + generated = torch.cat((generated, next_token.unsqueeze(1)), dim=1) + if finished.all(): + break + return generated[:, 1:] diff --git a/VLA-Adapter-UAV/prismatic/models/load.py b/VLA-Adapter-UAV/prismatic/models/load.py new file mode 100644 index 0000000000000000000000000000000000000000..883adbbe96621f1a2b9490872b259499e90957c2 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/load.py @@ -0,0 +1,255 @@ +""" +load.py + +Entry point for loading pretrained VLMs for inference; exposes functions for listing available models (with canonical +IDs, mappings to paper experiments, and short descriptions), as well as for loading models (from disk or HF Hub). +""" + +import json +import os +from pathlib import Path +from typing import List, Optional, Union + +from huggingface_hub import HfFileSystem, hf_hub_download + +from prismatic.conf import ModelConfig +from prismatic.models.materialize import get_llm_backbone_and_tokenizer, get_vision_backbone_and_transform +from prismatic.models.registry import GLOBAL_REGISTRY, MODEL_REGISTRY +from prismatic.models.vlas import OpenVLA +from prismatic.models.vlms import PrismaticVLM +from prismatic.overwatch import initialize_overwatch +from prismatic.vla.action_tokenizer import ACTION_TOKENIZERS, ActionTokenizer + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +# === HF Hub Repository === +HF_HUB_REPO = "TRI-ML/prismatic-vlms" +VLA_HF_HUB_REPO = "openvla/openvla-dev" + + +# === Available Models === +def available_models() -> List[str]: + return list(MODEL_REGISTRY.keys()) + + +def available_model_names() -> List[str]: + return list(GLOBAL_REGISTRY.items()) + + +def get_model_description(model_id_or_name: str) -> str: + if model_id_or_name not in GLOBAL_REGISTRY: + raise ValueError(f"Couldn't find `{model_id_or_name = }; check `prismatic.available_model_names()`") + + # Print Description & Return + print(json.dumps(description := GLOBAL_REGISTRY[model_id_or_name]["description"], indent=2)) + + return description + + +# === Load Pretrained Model === +def load( + model_id_or_path: Union[str, Path], + hf_token: Optional[str] = None, + cache_dir: Optional[Union[str, Path]] = None, + load_for_training: bool = False, + image_sequence_len: Optional[int] = None, +) -> PrismaticVLM: + """Loads a pretrained PrismaticVLM from either local disk or the HuggingFace Hub.""" + + if os.path.isdir(model_id_or_path): + overwatch.info(f"Loading from local path `{(run_dir := Path(model_id_or_path))}`") + + # Get paths for `config.json` and pretrained checkpoint + config_json, checkpoint_pt = run_dir / "config.json", run_dir / "checkpoints" / "step-020792-epoch-01-loss=0.5268.pt" + assert config_json.exists(), f"Missing `config.json` for `{run_dir = }`" + assert checkpoint_pt.exists(), f"Missing checkpoint for `{run_dir = }`" + else: + if model_id_or_path not in GLOBAL_REGISTRY: + raise ValueError(f"Couldn't find `{model_id_or_path = }; check `prismatic.available_model_names()`") + + overwatch.info(f"Downloading `{(model_id := GLOBAL_REGISTRY[model_id_or_path]['model_id'])} from HF Hub") + with overwatch.local_zero_first(): + config_json = hf_hub_download(repo_id=HF_HUB_REPO, filename=f"{model_id}/config.json", cache_dir=cache_dir) + checkpoint_pt = hf_hub_download( + repo_id=HF_HUB_REPO, filename=f"{model_id}/checkpoints/latest-checkpoint.pt", cache_dir=cache_dir + ) + + # Load Model Config from `config.json` + with open(config_json, "r") as f: + model_cfg = json.load(f)["model"] + + # = Load Individual Components necessary for Instantiating a VLM = + # =>> Print Minimal Config + overwatch.info( + f"Found Config =>> Loading & Freezing [bold blue]{model_cfg['model_id']}[/] with:\n" + f" Vision Backbone =>> [bold]{model_cfg['vision_backbone_id']}[/]\n" + f" LLM Backbone =>> [bold]{model_cfg['llm_backbone_id']}[/]\n" + f" Arch Specifier =>> [bold]{model_cfg['arch_specifier']}[/]\n" + f" Checkpoint Path =>> [underline]`{checkpoint_pt}`[/]" + ) + + if image_sequence_len is None: + if hasattr(model_cfg, "image_sequence_len"): + image_sequence_len = model_cfg.image_sequence_len + else: + image_sequence_len = 1 + + # Load Vision Backbone + overwatch.info(f"Loading Vision Backbone [bold]{model_cfg['vision_backbone_id']}[/]") + vision_backbone, image_transform = get_vision_backbone_and_transform( + model_cfg["vision_backbone_id"], + model_cfg["image_resize_strategy"], + image_sequence_len + ) + + # Load LLM Backbone --> note `inference_mode = True` by default when calling `load()` + overwatch.info(f"Loading Pretrained LLM [bold]{model_cfg['llm_backbone_id']}[/] via HF Transformers") + llm_backbone, tokenizer = get_llm_backbone_and_tokenizer( + model_cfg["llm_backbone_id"], + llm_max_length=model_cfg.get("llm_max_length", 2048), + hf_token=hf_token, + inference_mode=not load_for_training, + ) + + # Load VLM using `from_pretrained` (clobbers HF syntax... eventually should reconcile) + overwatch.info(f"Loading VLM [bold blue]{model_cfg['model_id']}[/] from Checkpoint") + vlm = PrismaticVLM.from_pretrained( + checkpoint_pt, + model_cfg["model_id"], + vision_backbone, + llm_backbone, + arch_specifier=model_cfg["arch_specifier"], + freeze_weights=not load_for_training, + ) + + return vlm + + +# === Load Pretrained VLA Model === +def load_vla( + model_id_or_path: Union[str, Path], + hf_token: Optional[str] = None, + cache_dir: Optional[Union[str, Path]] = None, + load_for_training: bool = False, + step_to_load: Optional[int] = None, + model_type: str = "pretrained", + image_sequence_len: Optional[int] = None, +) -> OpenVLA: + """Loads a pretrained OpenVLA from either local disk or the HuggingFace Hub.""" + + # TODO (siddk, moojink) :: Unify semantics with `load()` above; right now, `load_vla()` assumes path points to + # checkpoint `.pt` file, rather than the top-level run directory! + # import pdb; pdb.set_trace() + if os.path.isfile(model_id_or_path): + overwatch.info(f"Loading from local checkpoint path `{(checkpoint_pt := Path(model_id_or_path))}`") + + # [Validate] Checkpoint Path should look like `...//checkpoints/.pt` + assert (checkpoint_pt.suffix == ".pt") and (checkpoint_pt.parent.name == "checkpoints"), "Invalid checkpoint!" + run_dir = checkpoint_pt.parents[1] + + # Get paths for `config.json`, `dataset_statistics.json` and pretrained checkpoint + config_json, dataset_statistics_json = run_dir / "config.json", run_dir / "dataset_statistics.json" + assert config_json.exists(), f"Missing `config.json` for `{run_dir = }`" + assert dataset_statistics_json.exists(), f"Missing `dataset_statistics.json` for `{run_dir = }`" + + # Otherwise =>> try looking for a match on `model_id_or_path` on the HF Hub (`VLA_HF_HUB_REPO`) + else: + # Search HF Hub Repo via fsspec API + overwatch.info(f"Checking HF for `{(hf_path := str(Path(VLA_HF_HUB_REPO) / model_type / model_id_or_path))}`") + if not (tmpfs := HfFileSystem()).exists(hf_path): + raise ValueError(f"Couldn't find valid HF Hub Path `{hf_path = }`") + + # Identify Checkpoint to Load (via `step_to_load`) + step_to_load = f"{step_to_load:06d}" if step_to_load is not None else None + valid_ckpts = tmpfs.glob(f"{hf_path}/checkpoints/step-{step_to_load if step_to_load is not None else ''}*.pt") + if (len(valid_ckpts) == 0) or (step_to_load is not None and len(valid_ckpts) != 1): + raise ValueError(f"Couldn't find a valid checkpoint to load from HF Hub Path `{hf_path}/checkpoints/") + + # Call to `glob` will sort steps in ascending order (if `step_to_load` is None); just grab last element + target_ckpt = Path(valid_ckpts[-1]).name + + overwatch.info(f"Downloading Model `{model_id_or_path}` Config & Checkpoint `{target_ckpt}`") + with overwatch.local_zero_first(): + relpath = Path(model_type) / model_id_or_path + config_json = hf_hub_download( + repo_id=VLA_HF_HUB_REPO, filename=f"{(relpath / 'config.json')!s}", cache_dir=cache_dir + ) + dataset_statistics_json = hf_hub_download( + repo_id=VLA_HF_HUB_REPO, filename=f"{(relpath / 'dataset_statistics.json')!s}", cache_dir=cache_dir + ) + checkpoint_pt = hf_hub_download( + repo_id=VLA_HF_HUB_REPO, filename=f"{(relpath / 'checkpoints' / target_ckpt)!s}", cache_dir=cache_dir + ) + + # Load VLA Config (and corresponding base VLM `ModelConfig`) from `config.json` + with open(config_json, "r") as f: + vla_cfg = json.load(f)["vla"] + base_vlm = vla_cfg["base_vlm"] + + # if base vlm is a folder, load its config.json (only works for native format!) + # this might happen if you start a run who's base vlm is from a folder instead of from hf + if os.path.isdir(base_vlm): + with open(Path(base_vlm) / "config.json", "r") as f: + base_cfg = json.load(f)["model"] + base_vlm = base_cfg["model_id"] + + overwatch.info(f"Base vlm: {base_vlm}") + model_cfg = ModelConfig.get_choice_class(base_vlm)() + + # Load Dataset Statistics for Action Denormalization + with open(dataset_statistics_json, "r") as f: + norm_stats = json.load(f) + + # = Load Individual Components necessary for Instantiating a VLA (via base VLM components) = + # =>> Print Minimal Config + overwatch.info( + f"Found Config =>> Loading & Freezing [bold blue]{model_cfg.model_id}[/] with:\n" + f" Vision Backbone =>> [bold]{model_cfg.vision_backbone_id}[/]\n" + f" LLM Backbone =>> [bold]{model_cfg.llm_backbone_id}[/]\n" + f" Arch Specifier =>> [bold]{model_cfg.arch_specifier}[/]\n" + f" Checkpoint Path =>> [underline]`{checkpoint_pt}`[/]" + ) + + if image_sequence_len is None: + if hasattr(model_cfg, "image_sequence_len"): + image_sequence_len = model_cfg.image_sequence_len + else: + image_sequence_len = 1 + + # Load Vision Backbone + overwatch.info(f"Loading Vision Backbone [bold]{model_cfg.vision_backbone_id}[/]") + vision_backbone, image_transform = get_vision_backbone_and_transform( + model_cfg.vision_backbone_id, + model_cfg.image_resize_strategy, + image_sequence_len, + ) + + # Load LLM Backbone --> note `inference_mode = True` by default when calling `load()` + overwatch.info(f"Loading Pretrained LLM [bold]{model_cfg.llm_backbone_id}[/] via HF Transformers") + llm_backbone, tokenizer = get_llm_backbone_and_tokenizer( + model_cfg.llm_backbone_id, + llm_max_length=model_cfg.llm_max_length, + hf_token=hf_token, + inference_mode=not load_for_training, + ) + + # Create Action Tokenizer + ac_tokenizer = vla_cfg["action_tokenizer"] if "action_tokenizer" in vla_cfg else "action_tokenizer" + action_tokenizer: ActionTokenizer = ACTION_TOKENIZERS[ac_tokenizer](llm_backbone.get_tokenizer()) + + # Load VLM using `from_pretrained` (clobbers HF syntax... eventually should reconcile) + overwatch.info(f"Loading VLA [bold blue]{model_cfg.model_id}[/] from Checkpoint") + vla = OpenVLA.from_pretrained( + checkpoint_pt, + model_cfg.model_id, + vision_backbone, + llm_backbone, + arch_specifier=model_cfg.arch_specifier, + freeze_weights=not load_for_training, + norm_stats=norm_stats, + action_tokenizer=action_tokenizer, + ) + + return vla \ No newline at end of file diff --git a/VLA-Adapter-UAV/prismatic/models/materialize.py b/VLA-Adapter-UAV/prismatic/models/materialize.py new file mode 100644 index 0000000000000000000000000000000000000000..4f0d1cde637366efea5f0e7d8a05250b9a59dd83 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/materialize.py @@ -0,0 +1,189 @@ +""" +materialize.py + +Factory class for initializing Vision Backbones, LLM Backbones, and VLMs from a set registry; provides and exports +individual functions for clear control flow. +""" + +import os +from pathlib import Path +from typing import Optional, Tuple + +from transformers import PreTrainedTokenizerBase + +from prismatic.models.backbones.llm import LLaMa2LLMBackbone, LLMBackbone, MistralLLMBackbone, PhiLLMBackbone +from prismatic.models.backbones.llm.qwen25 import Qwen25LLMBackbone +from prismatic.models.backbones.vision import ( + CLIPViTBackbone, + DinoCLIPViTBackbone, + DinoSigLIPViTBackbone, + DinoV2ViTBackbone, + ImageTransform, + IN1KViTBackbone, + SigLIPViTBackbone, + VisionBackbone, +) +from prismatic.models.vlms import PrismaticVLM + +# === Registries =>> Maps ID --> {cls(), kwargs} :: Different Registries for Vision Backbones, LLM Backbones, VLMs === +# fmt: off + +_PROJECT_ROOT = Path(__file__).resolve().parents[2] +_DEFAULT_LOCAL_TIMM_PATH = str(_PROJECT_ROOT / "pretrained_models" / "timm") +_LOCAL_TIMM_PATH = os.environ.get("LOCAL_TIMM_PATH", _DEFAULT_LOCAL_TIMM_PATH) + +# === Vision Backbone Registry === +VISION_BACKBONES = { + # === 224px Backbones === + "clip-vit-l": {"cls": CLIPViTBackbone, "kwargs": {"default_image_size": 224}}, + "siglip-vit-so400m": {"cls": SigLIPViTBackbone, "kwargs": {"default_image_size": 224}}, + "dinov2-vit-l": {"cls": DinoV2ViTBackbone, "kwargs": {"default_image_size": 224}}, + "in1k-vit-l": {"cls": IN1KViTBackbone, "kwargs": {"default_image_size": 224}}, + "dinosiglip-vit-so-224px": {"cls": DinoSigLIPViTBackbone, "kwargs": {"default_image_size": 224, "vision_models_path": _LOCAL_TIMM_PATH}}, + + # === Assorted CLIP Backbones === + "clip-vit-b": {"cls": CLIPViTBackbone, "kwargs": {"default_image_size": 224}}, + "clip-vit-l-336px": {"cls": CLIPViTBackbone, "kwargs": {"default_image_size": 336}}, + + # === Assorted SigLIP Backbones === + "siglip-vit-b16-224px": {"cls": SigLIPViTBackbone, "kwargs": {"default_image_size": 224}}, + "siglip-vit-b16-256px": {"cls": SigLIPViTBackbone, "kwargs": {"default_image_size": 256}}, + "siglip-vit-b16-384px": {"cls": SigLIPViTBackbone, "kwargs": {"default_image_size": 384}}, + "siglip-vit-so400m-384px": {"cls": SigLIPViTBackbone, "kwargs": {"default_image_size": 384}}, + + # === Fused Backbones === + "dinoclip-vit-l-336px": {"cls": DinoCLIPViTBackbone, "kwargs": {"default_image_size": 336}}, + "dinosiglip-vit-so-384px": {"cls": DinoSigLIPViTBackbone, "kwargs": {"default_image_size": 384, "vision_models_path": _LOCAL_TIMM_PATH}}, +} + + +# === Language Model Registry === +LLM_BACKBONES = { + # === LLaMa-2 Pure (Non-Chat) Backbones === + "llama2-7b-pure": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + "llama2-13b-pure": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + + # === LLaMa-2 Chat Backbones === + "llama2-7b-chat": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + "llama2-13b-chat": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + + # === Vicuna-v1.5 Backbones === + "vicuna-v15-7b": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + "vicuna-v15-13b": {"cls": LLaMa2LLMBackbone, "kwargs": {}}, + + # === Mistral v0.1 Backbones === + "mistral-v0.1-7b-pure": {"cls": MistralLLMBackbone, "kwargs": {}}, + "mistral-v0.1-7b-instruct": {"cls": MistralLLMBackbone, "kwargs": {}}, + + # === Phi-2 Backbone === + "phi-2-3b": {"cls": PhiLLMBackbone, "kwargs": {}}, + + # === Qwen2.5 Backbone === + "qwen25-0_5b-pure": {"cls": Qwen25LLMBackbone, "kwargs": {}}, + "qwen25-0_5b-extra": {"cls": Qwen25LLMBackbone, "kwargs": {"num_extra_tokens": 256}}, + "qwen25-1_5b-pure": {"cls": Qwen25LLMBackbone, "kwargs": {}}, + "qwen25-3b-pure": {"cls": Qwen25LLMBackbone, "kwargs": {}}, +} + +# fmt: on + + +def get_vision_backbone_and_transform( + vision_backbone_id: str, + image_resize_strategy: str, + image_sequence_len: int, +) -> Tuple[VisionBackbone, ImageTransform]: + """Instantiate a Vision Backbone, returning both the nn.Module wrapper class and default Image Transform.""" + if vision_backbone_id in VISION_BACKBONES: + vision_cfg = VISION_BACKBONES[vision_backbone_id] + vision_backbone: VisionBackbone = vision_cfg["cls"]( + vision_backbone_id, image_resize_strategy, image_sequence_len=image_sequence_len, **vision_cfg["kwargs"] + ) + image_transform = vision_backbone.get_image_transform() + return vision_backbone, image_transform + + else: + raise ValueError(f"Vision Backbone `{vision_backbone_id}` is not supported!") + + +# def _is_network_or_dns_error(e: Exception) -> bool: +# s = str(e) +# return ( +# "Name or service not known" in s or +# "Failed to resolve" in s or +# "HTTPSConnectionPool" in s or +# isinstance(e, socket.gaierror) +# ) + + +# from typing import Tuple, Optional, Any, Dict +# def get_vision_backbone_and_transform( +# vision_backbone_id: str, +# image_resize_strategy: str, +# image_sequence_len: int, +# *, +# checkpoint_path: Optional[str] = None, +# pretrained: Optional[bool] = None, +# **extra_kwargs: Any, +# ) -> Tuple[VisionBackbone, ImageTransform]: +# """Instantiate a Vision Backbone, returning both the nn.Module wrapper class and default Image Transform.""" +# if vision_backbone_id not in VISION_BACKBONES: +# raise ValueError(f"Vision Backbone `{vision_backbone_id}` is not supported!") + +# vision_cfg = VISION_BACKBONES[vision_backbone_id] + + +# merged_kwargs: Dict[str, Any] = dict(vision_cfg["kwargs"]) +# if pretrained is not None: +# merged_kwargs["pretrained"] = pretrained +# if checkpoint_path is not None: +# merged_kwargs["checkpoint_path"] = checkpoint_path +# merged_kwargs.update(extra_kwargs) + +# vision_backbone: VisionBackbone = vision_cfg["cls"]( +# vision_backbone_id, +# image_resize_strategy, +# image_sequence_len=image_sequence_len, +# **merged_kwargs, +# ) +# image_transform = vision_backbone.get_image_transform() +# return vision_backbone, image_transform + + +def get_llm_backbone_and_tokenizer( + llm_backbone_id: str, + llm_max_length: int = 2048, + hf_token: Optional[str] = None, + inference_mode: bool = False, +) -> Tuple[LLMBackbone, PreTrainedTokenizerBase]: + if llm_backbone_id in LLM_BACKBONES: + llm_cfg = LLM_BACKBONES[llm_backbone_id] + llm_backbone: LLMBackbone = llm_cfg["cls"]( + llm_backbone_id, + llm_max_length=llm_max_length, + hf_token=hf_token, + inference_mode=inference_mode, + **llm_cfg["kwargs"], + ) + tokenizer = llm_backbone.get_tokenizer() + return llm_backbone, tokenizer + + else: + raise ValueError(f"LLM Backbone `{llm_backbone_id}` is not supported!") + + +def get_vlm( + model_id: str, + arch_specifier: str, + vision_backbone: VisionBackbone, + llm_backbone: LLMBackbone, + enable_mixed_precision_training: bool = True, +) -> PrismaticVLM: + """Lightweight wrapper around initializing a VLM, mostly for future-proofing (if one wants to add a new VLM).""" + return PrismaticVLM( + model_id, + vision_backbone, + llm_backbone, + enable_mixed_precision_training=enable_mixed_precision_training, + arch_specifier=arch_specifier, + ) diff --git a/VLA-Adapter-UAV/prismatic/models/modeling_prismatic.py b/VLA-Adapter-UAV/prismatic/models/modeling_prismatic.py new file mode 100644 index 0000000000000000000000000000000000000000..6aae08f4ef21b0d28d1f814db4ecf9412c6df17f --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/modeling_prismatic.py @@ -0,0 +1,1014 @@ +""" +modeling_prismatic.py + +Core HuggingFace-style PrismaticPreTrainedModel and PrismaticForConditionalGeneration class definitions. +Inherits from the default `transformers.PretrainedModel`. Meant to be standalone and self-contained, +but exactly replicate the logic in `prismatic.models.vlms.prismatic.py`. +""" + +import logging +from dataclasses import dataclass +from functools import partial +from typing import Any, Callable, ClassVar, Dict, List, Optional, Tuple, Union +import numpy as np +import timm +import tokenizers +import torch +import torch.nn as nn +import transformers +from timm.models.vision_transformer import LayerScale +from transformers import AutoModelForCausalLM, PretrainedConfig, PreTrainedModel +from transformers.modeling_outputs import ModelOutput + +from prismatic.training.train_utils import ( + get_current_action_mask, + get_next_actions_mask, +) +from prismatic.vla.constants import ( + ACTION_DIM, + ACTION_PROPRIO_NORMALIZATION_TYPE, + ACTION_TOKEN_BEGIN_IDX, + IGNORE_INDEX, + NUM_ACTIONS_CHUNK, + STOP_INDEX, + NormalizationType, + NUM_TOKENS +) +from .configuration_prismatic import OpenVLAConfig, PrismaticConfig + + + +# Set up logger +logger = logging.getLogger(__name__) + + +# === Utility Functions for Monkey-Patching === +def unpack_tuple(fn: Callable[[Any], Tuple[Any]]) -> Callable[[Any], Any]: + def wrapper(*args: Any, **kwargs: Any) -> Any: + result = fn(*args, **kwargs) + return result[0] if isinstance(result, tuple) else result + + return wrapper + + + +# HF Transformers overwrites parameters with names containing `gamma`; we're going to patch VisionBackbone.LayerScale. +# =>> TIMM :: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L109 +# =>> Transformers :: https://github.com/huggingface/transformers/blob/main/src/transformers/modeling_utils.py#L3960 +def _ls_new_forward(self, x: torch.Tensor) -> torch.Tensor: + return x.mul_(self.scale_factor) if self.inplace else x * self.scale_factor + + + +def ls_apply_patch(ls_module: LayerScale): + ls_module.scale_factor = nn.Parameter(ls_module.gamma.clone()) + ls_module.forward = _ls_new_forward.__get__(ls_module, LayerScale) + del ls_module.gamma + + + +# === Prismatic Vision Backbone (nn.Module) Definitions (w/ Fused Backbone Support) === +class PrismaticVisionBackbone(nn.Module): + """ + Vision backbone for Prismatic models that handles image feature extraction. + + Supports both single backbone (e.g., SigLIP) and fused backbone (e.g., SigLIP + DINOv2) configurations. + For fused backbones, features from both models are concatenated along the feature dimension. + """ + + def __init__( + self, + use_fused_vision_backbone: bool, + image_sizes: List[int], + timm_model_ids: List[str], + timm_override_act_layers: List[Optional[str]], + ) -> None: + """ + Initialize the vision backbone. + + Args: + use_fused_vision_backbone: Whether to use two backbones and fuse their features + image_sizes: List of image sizes for each backbone + timm_model_ids: List of TIMM model IDs to use for each backbone + timm_override_act_layers: List of activation layer overrides for each backbone + """ + super().__init__() + self.use_fused_vision_backbone = use_fused_vision_backbone + self.num_images_in_input = 1 # Default value, can be overridden later + + # Validate number of (fused) vision backbones + if len(timm_model_ids) > 2: + raise ValueError("Prismatic models only support up to 2 (fused) vision backbones!") + + # Create primary featurizer + self.featurizer = self._create_featurizer( + model_id=timm_model_ids[0], img_size=image_sizes[0], act_layer=timm_override_act_layers[0] + ) + self.embed_dim = self.featurizer.embed_dim + + # Create secondary featurizer if using fused backbone + if self.use_fused_vision_backbone: + self.fused_featurizer = self._create_featurizer( + model_id=timm_model_ids[1], img_size=image_sizes[1], act_layer=timm_override_act_layers[1] + ) + self.embed_dim += self.fused_featurizer.embed_dim + + # Patch LayerScale modules for HF compatibility + self._patch_layer_scales() + + + def _create_featurizer(self, model_id: str, img_size: int, act_layer: Optional[str]) -> nn.Module: + """ + Create a TIMM-based featurizer model with appropriate configurations. + + Args: + model_id: The TIMM model ID to load + img_size: Input image size for the model + act_layer: Override for the activation layer type + + Returns: + A configured featurizer model + """ + featurizer = timm.create_model( + model_id, + pretrained=False, + num_classes=0, + img_size=img_size, + act_layer=act_layer, + ) + + # Monkey-patch the forward function to extract the second-to-last layer features + num_blocks = len(featurizer.blocks) + featurizer.forward = unpack_tuple(partial(featurizer.get_intermediate_layers, n={num_blocks - 2})) + + return featurizer + + + def _patch_layer_scales(self) -> None: + """ + Patch all LayerScale modules to be compatible with HF's parameter naming. + + HF Transformers overwrites parameters with names containing 'gamma', + so we need to rename and modify the forward method. + """ + # Patch primary featurizer + for module in self.featurizer.modules(): + if isinstance(module, LayerScale): + ls_apply_patch(module) + + # Patch secondary featurizer if it exists + if self.use_fused_vision_backbone: + for module in self.fused_featurizer.modules(): + if isinstance(module, LayerScale): + ls_apply_patch(module) + + + def get_num_patches(self) -> int: + """ + Returns the number of vision patches output by the vision backbone. + + Returns: + Number of patches per image + """ + return self.featurizer.patch_embed.num_patches + + + def get_num_images_in_input(self) -> int: + """ + Returns the number of input images for the vision backbone. + + Returns: + Number of images expected in the input + """ + return self.num_images_in_input + + + def set_num_images_in_input(self, num_images_in_input: int) -> None: + """ + Sets the number of input images for the vision backbone. + + Args: + num_images_in_input: Number of images to expect in the input + """ + self.num_images_in_input = num_images_in_input + + + def forward(self, pixel_values: torch.Tensor) -> torch.Tensor: + """ + Implements the forward pass for the vision backbone. + + If `self.use_fused_vision_backbone == True`, uses both SigLIP and DINOv2 transformers to extract visual features + (otherwise uses SigLIP only). Allows multi-image inputs (but only for fused vision backbone). + + Args: + pixel_values (torch.Tensor): Pixels for input image(s), (B, C, H, W). + """ + if self.num_images_in_input == 1: + if not self.use_fused_vision_backbone: + return self.featurizer(pixel_values) + + # Split `pixel_values :: [bsz, 2 * 3, resolution, resolution]` =>> featurize =>> channel stack + img, img_fused = torch.split(pixel_values, [3, 3], dim=1) + patches, patches_fused = self.featurizer(img), self.fused_featurizer(img_fused) + + return torch.cat([patches, patches_fused], dim=2) + + else: + assert self.use_fused_vision_backbone, "Multi-image inputs require using fused backbone!" + + # Split `pixel_values` into individual images (each with 6 channels: 3 for SigLIP + 3 for DINOv2) + images = torch.split(pixel_values, [6] * self.num_images_in_input, dim=1) + + # Process each image and collect patches + all_patches = [] + for img in images: + # Split each image further into two stacks of channels (each with 3 channels) + img_regular, img_fused = torch.split(img, [3, 3], dim=1) + + # Get patches from both SigLIP and DINOv2 vision transformers + patches = self.featurizer(img_regular) + patches_fused = self.fused_featurizer(img_fused) + + # Concatenate SigLIP and DINOv2 patches along the hidden dimension + combined_patches = torch.cat([patches, patches_fused], dim=2) + all_patches.append(combined_patches) + + # Concatenate all patches along the patch dimension + return torch.cat(all_patches, dim=1) + + + +# === Prismatic Projector (nn.Module) Definitions === +class PrismaticProjector(nn.Module): + def __init__(self, use_fused_vision_backbone: bool, vision_dim: int, llm_dim: int) -> None: + super().__init__() + self.use_fused_vision_backbone = use_fused_vision_backbone + self.vision_dim, self.llm_dim = vision_dim, llm_dim + + # Switch on `use_fused_vision_backbone` =>> use slightly different MLPs and projection factors! + if not self.use_fused_vision_backbone: + self.fc1 = nn.Linear(self.vision_dim, self.llm_dim, bias=True) + self.fc2 = nn.Linear(self.llm_dim, self.llm_dim, bias=True) + self.act_fn1 = nn.GELU() + else: + initial_projection_dim = 4 * vision_dim + self.fc1 = nn.Linear(self.vision_dim, initial_projection_dim, bias=True) + self.fc2 = nn.Linear(initial_projection_dim, self.llm_dim, bias=True) + self.fc3 = nn.Linear(self.llm_dim, self.llm_dim, bias=True) + self.act_fn1 = nn.GELU() + self.act_fn2 = nn.GELU() + + def forward(self, img_patches: torch.Tensor) -> torch.Tensor: + if not self.use_fused_vision_backbone: + projected_features = self.fc1(img_patches) + projected_features = self.act_fn1(projected_features) + projected_features = self.fc2(projected_features) + else: + projected_features = self.fc1(img_patches) + projected_features = self.act_fn1(projected_features) + projected_features = self.fc2(projected_features) + projected_features = self.act_fn2(projected_features) + projected_features = self.fc3(projected_features) + + return projected_features + + + +# === Main HF Class Definitions === +@dataclass +class PrismaticCausalLMOutputWithPast(ModelOutput): + """Base class for Prismatic casual (visually-conditioned) language model outputs; also exposes visual features.""" + + loss: Optional[torch.FloatTensor] = None + logits: torch.FloatTensor = None + past_key_values: Optional[Tuple[Tuple[torch.FloatTensor]]] = None + hidden_states: Optional[Tuple[torch.FloatTensor, ...]] = None + attentions: Optional[Tuple[torch.FloatTensor]] = None + + # Additions for VLMs + projector_features: Optional[torch.FloatTensor] = None + + + +class PrismaticPreTrainedModel(PreTrainedModel): + config_class: PretrainedConfig = PrismaticConfig + base_model_prefix: str = "model" + supports_gradient_checkpointing: bool = True + + _no_split_modules: ClassVar[List[str]] = ["PrismaticProjector"] + _skip_keys_device_placement: str = "past_key_values" + _supports_flash_attn_2: bool = True + + def _init_weights(self, module: nn.Module) -> None: + # Important :: this HF ported version is *not* meant for training from scratch; only inference and fine-tuning! + # => As such, this init_weights code is not correct; if training VLMs from scratch, use the main codebase at + # https://github.com/TRI-ML/prismatic-vlms + std = ( + self.config.initializer_range + if hasattr(self.config, "initializer_range") + else self.config.text_config.initializer_range + ) + + if hasattr(module, "class_embedding"): + module.class_embedding.data.normal_(mean=0.0, std=std) + + if isinstance(module, (nn.Linear, nn.Conv2d)): + module.weight.data.normal_(mean=0.0, std=std) + if module.bias is not None: + module.bias.data.zero_() + elif isinstance(module, nn.Embedding): + module.weight.data.normal_(mean=0.0, std=std) + if module.padding_idx is not None: + module.weight.data[module.padding_idx].zero_() + + @property + def _supports_sdpa(self) -> bool: + """Check LLM supports SDPA Attention""" + return self.language_model._supports_sdpa + + + +class PrismaticForConditionalGeneration(PrismaticPreTrainedModel): + def __init__(self, config: PrismaticConfig) -> None: + super().__init__(config) + + # [Validation] Lightweight Validate on `config` Fields + Dependency Versions + if config.use_fused_vision_backbone is None: + raise ValueError("Missing config field `use_fused_vision_backbone`") + + if timm.__version__ not in {"0.9.10", "0.9.11", "0.9.12", "0.9.16"}: + raise NotImplementedError( + "TIMM Version must be >= 0.9.10 and < 1.0.0 (breaking); please raise a GitHub Issue " + "if you urgently need support for latest TIMM versions." + ) + + if (transformers.__version__ != "4.40.1") or (tokenizers.__version__ != "0.19.1"): + logger.warning( + f"Expected `transformers==4.40.1` and `tokenizers==0.19.1` but got " + f"`transformers=={transformers.__version__}` and `tokenizers=={tokenizers.__version__}`; " + f"there might be inference-time regressions due to dependency changes. If in doubt, please" + f"use the above versions." + ) + + # Instantiate PrismaticVisionBackbone (w/ Potential Fused Backbone) + self.vision_backbone = PrismaticVisionBackbone( + config.use_fused_vision_backbone, config.image_sizes, config.timm_model_ids, config.timm_override_act_layers + ) + + # Create Multimodal Projector + self.projector = PrismaticProjector( + config.use_fused_vision_backbone, + vision_dim=self.vision_backbone.embed_dim, + llm_dim=config.text_config.hidden_size, + ) + + # Instantiate LLM Backbone + self.language_model = AutoModelForCausalLM.from_config( + config.text_config, attn_implementation=config._attn_implementation + ) + + self.vocab_size = config.text_config.vocab_size + self.pad_token_id = config.pad_token_id + self.llm_dim = config.text_config.hidden_size + + #Action query token + self.action_queries = nn.Embedding(NUM_TOKENS, self.llm_dim) + self.action_queries.weight.data.zero_() + + # HF Boilerplate =>> initializes weights via `_init_weights()` and sets gradient checkpointing + self.post_init() + + # === `PreTrainedModel` Boilerplate === + def get_input_embeddings(self) -> nn.Module: + return self.language_model.get_input_embeddings() + def set_version(self, version: str): + self.version = version + return self.version + + + def set_input_embeddings(self, value: nn.Module) -> None: + self.language_model.set_input_embeddings(value) + + def get_output_embeddings(self) -> nn.Module: + return self.language_model.get_output_embeddings() + + def set_output_embeddings(self, new_embeddings: nn.Module) -> None: + self.language_model.set_output_embeddings(new_embeddings) + + def get_decoder(self) -> nn.Module: + return self.language_model.get_decoder() + + def set_decoder(self, decoder: nn.Module) -> None: + self.language_model.set_decoder(decoder) + + def tie_weights(self) -> None: + self.language_model.tie_weights() # Note: `Llama-2` and `Mistral` don't tie weights (no-op) + + def resize_token_embeddings( + self, new_num_tokens: Optional[int] = None, pad_to_multiple_of: Optional[int] = None + ) -> nn.Embedding: + updated_embeddings = self.language_model.resize_token_embeddings(new_num_tokens, pad_to_multiple_of) + + # Update config/instance variables + self.config.text_config.vocab_size = updated_embeddings.num_embeddings + self.vocab_size = updated_embeddings.num_embeddings + + return updated_embeddings + + def _replace_input_embeddings(self, input_embeddings, all_actions_mask, noisy_action_features): + """ + Replace embeddings in input_embeddings at positions where all_actions_mask is True + with embeddings from noisy_action_features, using vectorized operations. + + Args: + input_embeddings: Tensor of shape (B, S, D) + all_actions_mask: Boolean tensor of shape (B, S) + noisy_action_features: Tensor of shape (B, K, D) where K is the number of True values in mask per sample + + Returns: + Modified input_embeddings tensor + """ + # Clone input to avoid modifying the original tensor + new_input_embeddings = input_embeddings.clone() + + # Create a tensor with the same shape of input_embeddings to hold the noisy action features + repositioned_noisy_action_features = torch.zeros_like(input_embeddings) + + # Create batch indices for splicing + batch_indices = torch.arange(input_embeddings.shape[0], device=input_embeddings.device) + batch_indices = batch_indices.unsqueeze(1).expand(-1, noisy_action_features.shape[1]) + + # Get indices where mask is True for each sample + masked_indices = torch.stack([torch.where(mask)[0] for mask in all_actions_mask]) + + # Move the noisy action features into their correct positions + # print(noisy_action_features.size()) + + repositioned_noisy_action_features[batch_indices, masked_indices] = noisy_action_features + + # Combine original input embeddings and noisy action embeddings using the mask + new_input_embeddings = torch.where( + all_actions_mask.unsqueeze(-1), repositioned_noisy_action_features, new_input_embeddings + ) + + return new_input_embeddings + + def _process_action_masks(self, labels): + """Helper to get action masks from labels""" + current_action_mask = get_current_action_mask(labels) + next_actions_mask = get_next_actions_mask(labels) + all_actions_mask = current_action_mask | next_actions_mask # (B, seq_len) + return all_actions_mask + + def _process_vision_features(self, pixel_values, language_embeddings=None, use_film=False): + """Process vision features with optional FiLM conditioning""" + if use_film: + # FiLM: Infuse language inputs into visual features + patch_features = self.vision_backbone(pixel_values, language_embeddings) # (bsz, 256 * num_images, D) + else: + patch_features = self.vision_backbone(pixel_values) # (bsz, 256 * num_images, D) + + # Project patch embeddings into language embedding space + return self.projector(patch_features) + + def _process_proprio_features(self, projected_patch_embeddings, proprio, proprio_projector): + """Process proprioceptive features and append to vision features""" + if proprio_projector is not None and proprio is not None: + # projected_patch_embeddings: (bsz, num_patches * num_images, llm_dim) + # proprio: (bsz, proprio_dim) or (propro_dim,) + proprio = proprio.reshape(projected_patch_embeddings.shape[0], -1) # (bsz, proprio_dim) + proprio_features = proprio_projector(proprio) # (bsz, llm_dim) + proprio_features = proprio_features.unsqueeze(dim=1) # (bsz, 1, llm_dim) + # For simplicity, just append proprio token to the end of projected vision patch tokens + return torch.cat((projected_patch_embeddings, proprio_features), dim=1) + return projected_patch_embeddings + + def _build_multimodal_attention(self, input_embeddings, projected_patch_embeddings, attention_mask): + """Build multimodal embeddings and attention mask""" + # Update attention mask + + projected_patch_attention_mask = None + if attention_mask is not None: + projected_patch_attention_mask = torch.full( + (projected_patch_embeddings.shape[0], projected_patch_embeddings.shape[1]), + fill_value=True, + dtype=attention_mask.dtype, + device=attention_mask.device, + ) + + # Build multimodal embeddings & attention mask; insert embeddings after token (1:) + multimodal_embeddings = torch.cat( + [input_embeddings[:, :1, :], projected_patch_embeddings, input_embeddings[:, 1:, :]], dim=1 + ) + + multimodal_attention_mask = None + if attention_mask is not None: + multimodal_attention_mask = torch.cat( + [attention_mask[:, :1], projected_patch_attention_mask, attention_mask[:, 1:]], dim=1 + ) + + return multimodal_embeddings, multimodal_attention_mask + + def _build_multimodal_labels(self, labels, projected_patch_embeddings): + """Build multimodal labels with IGNORE_INDEX for patch embeddings""" + if labels is not None: + projected_patch_labels = torch.full( + (projected_patch_embeddings.shape[0], projected_patch_embeddings.shape[1]), + fill_value=IGNORE_INDEX, + dtype=labels.dtype, + device=labels.device, + ) + return torch.cat([labels[:, :1], projected_patch_labels, labels[:, 1:]], dim=1) + return None + + # === Core Prismatic VLM `forward()` Logic === + def forward( + self, + input_ids: Optional[torch.LongTensor] = None, + attention_mask: Optional[torch.Tensor] = None, + pixel_values: Optional[torch.FloatTensor] = None, + labels: Optional[torch.LongTensor] = None, + inputs_embeds: Optional[torch.FloatTensor] = None, + past_key_values: Optional[List[torch.FloatTensor]] = None, + use_cache: Optional[bool] = None, + output_attentions: Optional[bool] = None, + output_hidden_states: Optional[bool] = None, + output_projector_features: Optional[bool] = None, + return_dict: Optional[bool] = None, + proprio=None, + proprio_projector=None, + noisy_actions=None, + noisy_action_projector=None, + diffusion_timestep_embeddings=None, + use_film: bool = False, + ) -> Union[Tuple, PrismaticCausalLMOutputWithPast]: + """Run a forward pass through the VLM, returning a PrismaticCausalLMOutputWithPast instance.""" + output_attentions = output_attentions if output_attentions is not None else self.config.output_attentions + output_hidden_states = ( + output_hidden_states if output_hidden_states is not None else self.config.output_hidden_states + ) + output_projector_features = output_projector_features if output_projector_features is not None else False + return_dict = return_dict if return_dict is not None else self.config.use_return_dict + + # Respect `use_cache` only if not training (even if `gradient_checkpointing` is off) + use_cache = use_cache and not self.training + + # Instantiate Placeholder for Projector Features + projected_patch_embeddings = None + + # === Handle Generation with Cache (`input_ids.shape[1] == 1`) =>> requires `past_keys_values` === + if input_ids.shape[1] == 1: + assert input_ids.shape[0] == 1, "Generation is only currently supported for batch size of 1!" + assert past_key_values is not None, "You must provide `past_key_values` during cached generation!" + assert labels is None, "Unexpected key `labels` provided during cached generation!" + + language_model_output = self.language_model( + input_ids=input_ids, + attention_mask=None, + position_ids=None, + past_key_values=past_key_values, + inputs_embeds=None, + labels=None, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + + # === Handle Unimodal Forward === + elif pixel_values is None: + assert (input_ids is not None) and (inputs_embeds is None), "Missing `input_ids` in language-only forward!" + assert past_key_values is None, "Unexpected key `past_key_values` provided during language-only forward!" + + language_model_output = self.language_model( + input_ids=input_ids, + attention_mask=attention_mask, + position_ids=None, + past_key_values=None, + inputs_embeds=None, + labels=labels, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + + # === Handle Multimodal Forward === + elif (input_ids.shape[0] == pixel_values.shape[0]) or (inputs_embeds.shape[0] == pixel_values.shape[0]): + assert past_key_values is None, "Unexpected key `past_key_values` provided during multimodal forward!" + + # Get input embeddings (from language model embeddings) + input_embeddings = self.get_input_embeddings()(input_ids) # (B, seq_len, D) + + + # 首帧规划分支只提取多模态特征，不携带动作标签。此时没有动作 + # token 需要替换，使用全 False mask，避免对 None 调用动作标签解析。 + if labels is None: + all_actions_mask = torch.zeros_like(input_ids, dtype=torch.bool) + else: + all_actions_mask = self._process_action_masks(labels) + + # Extract the language portion of the input embeddings (i.e. remove the action tokens portion) + + # print(input_embeddings[~all_actions_mask].size()) + language_embeddings = input_embeddings[~all_actions_mask].reshape( + input_embeddings.shape[0], -1, input_embeddings.shape[2] + ) # (B, lang_seq_len, llm_dim) + + # Get visual features + projected_patch_embeddings = self._process_vision_features(pixel_values, language_embeddings, use_film) + + # 仅动作训练样本包含动作 token；首帧规划输入没有 labels，不能也无需 + # 用 action queries 替换其文本 token。 + if labels is not None: + action_queries = self.action_queries.weight # (1, h) + action_queries = action_queries.view(1, action_queries.shape[0], action_queries.shape[1]).repeat(input_embeddings.shape[0], 1, 1) # (b, chunk_size, h) + input_embeddings = self._replace_input_embeddings( + input_embeddings, all_actions_mask, action_queries) + + # Build multimodal embeddings & attention mask + multimodal_embeddings, multimodal_attention_mask = self._build_multimodal_attention( + input_embeddings, projected_patch_embeddings, attention_mask + ) + + # Build labels for multimodal sequence if needed + multimodal_labels = self._build_multimodal_labels(labels, projected_patch_embeddings) + + # Dispatch to language model + language_model_output = self.language_model( + input_ids=None, + attention_mask=multimodal_attention_mask, + position_ids=None, + past_key_values=None, + inputs_embeds=multimodal_embeddings, + labels=None, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + + # === Otherwise =>> Assume Invalid! === + elif (input_ids.shape[0] != pixel_values.shape[0]) or (inputs_embeds.shape[0] != pixel_values.shape[0]): + raise ValueError("Non-homogenous batch of (text, image) input -- forward() does not support mixed batches!") + + else: + raise ValueError( + "Invalid PrismaticForConditionalGeneration `forward()` call with provided arguments:\n" + f"=> `input_ids` = {input_ids is not None}\n" + f"=> `attention_mask` = {attention_mask is not None}\n" + f"=> `pixel_values` = {pixel_values is not None}\n" + f"=> `labels` = {labels is not None}\n" + f"=> `input_embeds` = {inputs_embeds is not None}\n" + f"=> `past_key_values` = {past_key_values is not None}\n" + f"=> `use_cache` = {use_cache}" + ) + + # Unpack `language_model_output` and return PrismaticCausalLMOutputWithPast (or tuple if not `return_dict`) + if not return_dict: + if output_projector_features and (projected_patch_embeddings is not None): + return *language_model_output, projected_patch_embeddings + + return language_model_output + + return PrismaticCausalLMOutputWithPast( + loss=language_model_output.loss, + past_key_values=language_model_output.past_key_values, + hidden_states=language_model_output.hidden_states, + attentions=language_model_output.attentions, + projector_features=projected_patch_embeddings, + ) + + + # === GenerationMixin Methods === + def prepare_inputs_for_generation( + self, + input_ids: Optional[torch.Tensor] = None, + past_key_values: Optional[List[torch.FloatTensor]] = None, + inputs_embeds: Optional[torch.FloatTensor] = None, + pixel_values: Optional[torch.FloatTensor] = None, + attention_mask: Optional[torch.Tensor] = None, + **kwargs: str, + ) -> Dict[str, torch.Tensor]: + """Borrowed from `LlamaForCausalLM` and simplified for batch size = 1; mirrors original PrismaticVLM logic.""" + if ((input_ids is not None) and (input_ids.shape[0] > 1)) or ( + (inputs_embeds is not None) and (inputs_embeds.shape[0] > 1) + ): + raise ValueError("Generation with batch size > 1 is not currently supported!") + + # Handle `past_key_values` (cache) =>> assume `input_ids` just has unprocessed tokens + if past_key_values is not None: + input_ids = input_ids[:, -1:] + + # If `input_embeds` are passed, we only want to use them in the 1st generation step + if inputs_embeds is not None and past_key_values is None: + model_inputs = {"input_embeds": inputs_embeds} + else: + model_inputs = {"input_ids": input_ids} + + # Make sure `pixel_values` are preserved in `model_inputs` + model_inputs.update( + { + "attention_mask": attention_mask, + "pixel_values": pixel_values, + "past_key_values": past_key_values, + "use_cache": kwargs.get("use_cache"), + } + ) + + return model_inputs + + # Defer to Language Model (all handle this differently, with different return types) + def _reorder_cache(self, *args, **kwargs) -> Any: + return self.language_model._reorder_cache(*args, **kwargs) + + + +class OpenVLAForActionPrediction(PrismaticForConditionalGeneration): + config_class: PretrainedConfig = OpenVLAConfig + + def __init__(self, config: OpenVLAConfig) -> None: + super().__init__(config) + self.norm_stats = config.norm_stats + + + # Compute action bins + self.bins = np.linspace(-1, 1, config.n_action_bins) + self.bin_centers = (self.bins[:-1] + self.bins[1:]) / 2.0 + + # Compute vocab size for de-tokenization -- revert added "multiple of" + self.vocab_size = self.config.text_config.vocab_size - self.config.pad_to_multiple_of + + def _prepare_input_for_action_prediction(self, input_ids, attention_mask): + """Prepares input for action prediction by adding necessary tokens""" + # Add (ACTION_DIM * NUM_ACTIONS_CHUNK) placeholder tokens to input_ids to simulate action tokens + placeholder_action_token_ids = ( + torch.ones((input_ids.shape[0], NUM_TOKENS)).to(input_ids.device).to(input_ids.dtype) + ) + input_ids = torch.cat([input_ids, placeholder_action_token_ids], dim=-1) + + # Add stop token to sequence (needed in non-causal bi-directional self-attention, as it appears at train time) + stop_token_id = torch.ones((input_ids.shape[0], 1)).to(input_ids.device).to(input_ids.dtype) * STOP_INDEX + input_ids = torch.cat([input_ids, stop_token_id], dim=-1) + + # Extend the attention mask to fit the new shape of input + # Note: Only batch size == 1 supported right now + mask_extension = ( + torch.ones((attention_mask.shape[0], input_ids.shape[-1] - attention_mask.shape[-1])) + .to(attention_mask.device) + .to(attention_mask.dtype) + ) + attention_mask = torch.cat([attention_mask, mask_extension], dim=-1) + + return input_ids, attention_mask + + def _prepare_labels_for_action_prediction(self, labels, input_ids): + """Creates labels tensor for action prediction if not provided""" + # Extend labels tensor with fake action labels + ARBITRARY_ACTION_TOKEN_IDX = ACTION_TOKEN_BEGIN_IDX + 1 + labels_extension = ( + torch.ones((labels.shape[0], input_ids.shape[-1] - labels.shape[-1])).to(labels.device).to(labels.dtype) + * ARBITRARY_ACTION_TOKEN_IDX + ) + labels = torch.cat([labels, labels_extension], dim=-1) + + # Replace last label token with stop token + labels[:, -1] = STOP_INDEX + + return labels + + def _unnormalize_actions(self, normalized_actions, unnorm_key=None): + """Unnormalize actions using dataset statistics""" + action_norm_stats = self.get_action_stats(unnorm_key) + + if ACTION_PROPRIO_NORMALIZATION_TYPE == NormalizationType.BOUNDS: + mask = action_norm_stats.get("mask", np.ones_like(action_norm_stats["min"], dtype=bool)) + action_high, action_low = np.array(action_norm_stats["max"]), np.array(action_norm_stats["min"]) + elif ACTION_PROPRIO_NORMALIZATION_TYPE == NormalizationType.BOUNDS_Q99: + mask = action_norm_stats.get("mask", np.ones_like(action_norm_stats["q01"], dtype=bool)) + action_high, action_low = np.array(action_norm_stats["q99"]), np.array(action_norm_stats["q01"]) + else: + raise ValueError("Unsupported action/proprio normalization type detected!") + + actions = np.where( + mask, + 0.5 * (normalized_actions + 1) * (action_high - action_low + 1e-8) + action_low, + normalized_actions, + ) + + return actions + + + def _regression_or_discrete_prediction( + self, + input_embeddings, + all_actions_mask, + projected_patch_embeddings, + attention_mask, + labels, + NUM_PATCHES, + NUM_PROMPT_TOKENS, + action_head=None, + flight_plan_decoder=None, + plan_hidden_states=None, + episode_memory_hidden_states=None, + proprio=None, + proprio_projector=None, + ): + """Run L1 regression-based continuous action prediction or discrete action tokens prediction.""" + + action_queries = self.action_queries.weight # (1, h) + action_queries = action_queries.view(1, action_queries.shape[0], action_queries.shape[1]).repeat(input_embeddings.shape[0], 1, 1) # (b, chunk_size, h) + # Replace action token embeddings with noisy action embeddings + input_embeddings = self._replace_input_embeddings(input_embeddings.clone(), all_actions_mask, action_queries) + + # Build multimodal embeddings and attention mask + multimodal_embeddings, multimodal_attention_mask = self._build_multimodal_attention( + input_embeddings, projected_patch_embeddings, attention_mask + ) + + # Forward pass through language model + language_model_output = self.language_model( + input_ids=None, + attention_mask=multimodal_attention_mask, + position_ids=None, + past_key_values=None, + inputs_embeds=multimodal_embeddings, + labels=None, + use_cache=None, + output_attentions=False, + output_hidden_states=True, + return_dict=True, + ) + + # Extract hidden states for action tokens + multi_layer_hidden_states = [] + + for item in language_model_output.hidden_states[0:]: + # last_hidden_states = output.hidden_states[-1] # (B, seq_len, D) + # Get hidden states for text portion of prompt+response (after the vision patches) + text_hidden_states = item + # Get hidden states for action portion of response + actions_hidden_states = text_hidden_states[:, NUM_PATCHES+ NUM_PROMPT_TOKENS : NUM_PATCHES + NUM_PROMPT_TOKENS + NUM_TOKENS, :,].reshape(1, 1, NUM_TOKENS, -1).to(torch.bfloat16) + + batch_size = item.shape[0] + task_latten_states = item[:, :NUM_PATCHES].reshape(batch_size, 1, NUM_PATCHES , -1) + all_hidden_states = torch.cat((task_latten_states, actions_hidden_states),2) + multi_layer_hidden_states.append(all_hidden_states) + + multi_layer_hidden_states = torch.cat(multi_layer_hidden_states, dim = 1) + + + # Handle different prediction methods + if action_head is not None: + # L1 regression prediction + # 推理时可传入首帧一次性生成并缓存的 latent plan；此时绝不能 + # 用当前帧重新规划，否则会与 Flight-CoT 的训练/部署设定不一致。 + if plan_hidden_states is None and flight_plan_decoder is not None: + plan_hidden_states = flight_plan_decoder( + multi_layer_hidden_states, + proprio=proprio, + proprio_projector=proprio_projector, + ) + normalized_actions = action_head.predict_action(multi_layer_hidden_states, + proprio=proprio, + proprio_projector=proprio_projector, + plan_hidden_states=plan_hidden_states, + episode_memory_hidden_states=episode_memory_hidden_states) + normalized_actions = normalized_actions.reshape(NUM_ACTIONS_CHUNK, ACTION_DIM) + normalized_actions = normalized_actions.float().cpu().detach().numpy() + else: + # Discrete token-based prediction + predicted_action_token_ids = ( + language_model_output.logits[ + :, + NUM_PATCHES + NUM_PROMPT_TOKENS : NUM_PATCHES + NUM_PROMPT_TOKENS + ACTION_DIM * NUM_ACTIONS_CHUNK, + ] + .argmax(dim=2) + .cpu() + .numpy() + ) + discretized_actions = self.vocab_size - predicted_action_token_ids + discretized_actions = np.clip(discretized_actions - 1, a_min=0, a_max=self.bin_centers.shape[0] - 1) + normalized_actions = self.bin_centers[discretized_actions] + normalized_actions = normalized_actions.reshape(NUM_ACTIONS_CHUNK, ACTION_DIM) + + return normalized_actions, actions_hidden_states + + + def predict_action( + self, + input_ids: Optional[torch.LongTensor] = None, + unnorm_key: Optional[str] = None, + proprio=None, + proprio_projector=None, + action_head=None, + flight_plan_decoder=None, + plan_hidden_states=None, + episode_memory_hidden_states=None, + noisy_action_projector=None, + use_film: bool = False, + **kwargs: str, + ) -> np.ndarray: + """Predict actions from input sequence, with options for different prediction methods. + + Args: + input_ids: Input token ids + unnorm_key: Key for unnormalization statistics + proprio: Proprioceptive features + proprio_projector: Projector for proprioceptive features + action_head: Optional head for L1 regression or diffusion-based prediction + noisy_action_projector: Projector for noisy actions in diffusion-based prediction + use_film: Whether to use FiLM conditioning + **kwargs: Additional arguments including pixel_values and attention_mask + + Returns: + Tuple of (unnormalized_actions, action_hidden_states) + """ + + pixel_values = kwargs["pixel_values"] # [1, 12, 224, 224] + attention_mask = kwargs["attention_mask"] # + + # Create fake labels tensor (needed for action mask) + labels = input_ids.clone() + labels[:] = IGNORE_INDEX + + # Get number of tokens in prompt (excluding the start token) + NUM_PROMPT_TOKENS = input_ids.shape[-1] - 1 # Subtract action tokens and stop token + + # Prepare inputs by adding necessary tokens + input_ids, attention_mask = self._prepare_input_for_action_prediction(input_ids, attention_mask) + + # Update labels tensor for action mask computation later + labels = self._prepare_labels_for_action_prediction(labels, input_ids) + + # Get input embeddings and action masks + input_embeddings = self.get_input_embeddings()(input_ids) + all_actions_mask = self._process_action_masks(labels) + + # Extract language embeddings + language_embeddings = input_embeddings[~all_actions_mask].reshape( + input_embeddings.shape[0], -1, input_embeddings.shape[2] + ) + + # Process vision features + projected_patch_embeddings = self._process_vision_features(pixel_values, language_embeddings, use_film) + + # Add proprioceptive features if provided + use_proprio = proprio_projector is not None and proprio is not None + if use_proprio: + proprio = torch.Tensor(proprio).to(projected_patch_embeddings.device, dtype=projected_patch_embeddings.dtype) + + # Calculate number of patches (including proprio token and/or diffusion timestep embedding if present) + NUM_PATCHES = self.vision_backbone.get_num_patches() * self.vision_backbone.get_num_images_in_input() + + # Run regression or discrete token-based prediction + normalized_actions, actions_hidden_states = self._regression_or_discrete_prediction( + input_embeddings, + all_actions_mask, + projected_patch_embeddings, + attention_mask, + labels, + NUM_PATCHES, + NUM_PROMPT_TOKENS, + action_head=action_head, + flight_plan_decoder=flight_plan_decoder, + plan_hidden_states=plan_hidden_states, + episode_memory_hidden_states=episode_memory_hidden_states, + proprio=proprio, # [8] + proprio_projector=proprio_projector, + ) + + # Unnormalize predicted actions + actions = self._unnormalize_actions(normalized_actions, unnorm_key) + + return actions, actions_hidden_states + + + + @staticmethod + def _check_unnorm_key(norm_stats: Dict[str, Dict[str, Any]], unnorm_key: Optional[str]) -> str: + """Validate and resolve the unnormalization key for action statistics""" + if unnorm_key is None: + assert len(norm_stats) == 1, ( + f"Your model was trained on more than one dataset, " + f"please pass a `unnorm_key` from the following options to choose the statistics " + f"used for un-normalizing actions: {norm_stats.keys()}" + ) + unnorm_key = next(iter(norm_stats.keys())) + + assert unnorm_key in norm_stats, ( + f"The `unnorm_key` you chose is not in the set of available dataset statistics, " + f"please choose from: {norm_stats.keys()}" + ) + return unnorm_key + + def get_action_dim(self, unnorm_key: Optional[str] = None) -> int: + """Get the dimensionality of the policy's action space.""" + unnorm_key = self._check_unnorm_key(self.norm_stats, unnorm_key) + return len(self.norm_stats[unnorm_key]["action"]["min"]) + + def get_action_stats(self, unnorm_key: Optional[str] = None) -> Dict[str, Any]: + """Get all the logged statistics for the given dataset.""" + unnorm_key = self._check_unnorm_key(self.norm_stats, unnorm_key) + return self.norm_stats[unnorm_key]["action"] diff --git a/VLA-Adapter-UAV/prismatic/models/projectors.py b/VLA-Adapter-UAV/prismatic/models/projectors.py new file mode 100644 index 0000000000000000000000000000000000000000..ea20dade18ea8863f683a4a00cd4365c92aac2d6 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/projectors.py @@ -0,0 +1,49 @@ +"""Implementation of additional projectors for additional inputs to the VLA models.""" +import torch +import torch.nn as nn + + +class ProprioProjector(nn.Module): + """ + Projects proprio state inputs into the LLM's embedding space. + """ + def __init__(self, llm_dim: int, proprio_dim: int) -> None: + super().__init__() + self.llm_dim = llm_dim + self.proprio_dim = proprio_dim + + self.fc1 = nn.Linear(self.proprio_dim, self.llm_dim, bias=True) + self.fc2 = nn.Linear(self.llm_dim, self.llm_dim, bias=True) + self.act_fn1 = nn.GELU() + + def forward(self, proprio: torch.Tensor = None) -> torch.Tensor: + # proprio: (bsz, proprio_dim) + projected_features = self.fc1(proprio) + projected_features = self.act_fn1(projected_features) + projected_features = self.fc2(projected_features) + return projected_features + + +class NoisyActionProjector(nn.Module): + """ + [Diffusion] Projects noisy action inputs into the LLM's embedding space. + + Note that since each action is tokenized into 7 tokens in OpenVLA (rather + than having 1 token per action), each noisy action token will have dimension 1 + instead of 7. + """ + def __init__(self, llm_dim: int) -> None: + super().__init__() + self.llm_dim = llm_dim + self.action_token_dim = 1 + + self.fc1 = nn.Linear(self.action_token_dim, self.llm_dim, bias=True) + self.fc2 = nn.Linear(self.llm_dim, self.llm_dim, bias=True) + self.act_fn1 = nn.GELU() + + def forward(self, noisy_actions: torch.Tensor = None) -> torch.Tensor: + # noisy_actions: (bsz, num_action_tokens=chunk_len*action_dim, 1) + projected_features = self.fc1(noisy_actions) + projected_features = self.act_fn1(projected_features) + projected_features = self.fc2(projected_features) + return projected_features diff --git a/VLA-Adapter-UAV/prismatic/models/registry.py b/VLA-Adapter-UAV/prismatic/models/registry.py new file mode 100644 index 0000000000000000000000000000000000000000..941f0f994c9b4537c0391c4f862bbbf3e8bb4b2b --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/registry.py @@ -0,0 +1,718 @@ +""" +registry.py + +Exhaustive list of pretrained VLMs (with full descriptions / links to corresponding names and sections of paper). +""" + +# === Pretrained Model Registry === +# fmt: off +MODEL_REGISTRY = { + # === LLaVa v1.5 Reproductions === + "reproduction-llava-v15+7b": { + "model_id": "reproduction-llava-v15+7b", + "names": ["LLaVa v1.5 7B (Reproduction)"], + "description": { + "name": "LLaVa v1.5 7B (Reproduction)", + "optimization_procedure": "multi-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "reproduction-llava-v15+13b": { + "model_id": "reproduction-llava-v15+13b", + "names": ["LLaVa v1.5 13B (Reproduction)"], + "description": { + "name": "LLaVa v1.5 13B (Reproduction)", + "optimization_procedure": "multi-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 13B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + + # === Section 4.1 :: Optimization Procedure === + "one-stage+7b": { + "model_id": "one-stage+7b", + "names": [ + "One-Stage 7B", + "Single-Stage 7B", + "Frozen ViT (Single-Stage)", + "CLIP ViT-L 336px (Letterbox)", + "CLIP ViT-L 336px", + "Vicuña v1.5 7B", + "1 Epoch", + "Base", + ], + "description": { + "name": "Single-Stage 7B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "one-stage+13b": { + "model_id": "one-stage+13b", + "names": [ + "One-Stage 13B", + "Single-Stage 13B", + "Vicuña v1.5 13B", + ], + "description": { + "name": "Single-Stage 13B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 13B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + + "full-ft-multi-stage+7b": { + "model_id": "full-ft-multi-stage+7b", + "names": ["Finetune ViT (Multi-Stage)"], + "description": { + "name": "Finetune ViT (Multi-Stage)", + "optimization_procedure": "multi-stage-full-finetune", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "full-ft-one-stage+7b": { + "model_id": "full-ft-one-stage+7b", + "names": ["Finetune ViT (Single-Stage)"], + "description": { + "name": "Finetune ViT (Single-Stage)", + "optimization_procedure": "single-stage-full-finetune", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + + # === Section 4.2 :: Image Processing and Visual Representations === + "in1k-224px+7b": { + "model_id": "in1k-224px+7b", + "names": ["IN1K ViT-L 224px"], + "description": { + "name": "IN1K ViT-L 224px", + "optimization_procedure": "single-stage", + "visual_representation": "ImageNet-21K+1K ViT-L/16 @ 224px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + }, + }, + "dinov2-224px+7b": { + "model_id": "dinov2-224px+7b", + "names": ["DINOv2 ViT-L 224px"], + "description": { + "name": "DINOv2 ViT-L 224px", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 @ 224px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + }, + }, + "clip-224px+7b": { + "model_id": "clip-224px+7b", + "names": ["CLIP ViT-L 224px"], + "description": { + "name": "CLIP ViT-L 224px", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 224px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + }, + }, + "siglip-224px+7b": { + "model_id": "siglip-224px+7b", + "names": ["SigLIP ViT-SO 224px"], + "description": { + "name": "SigLIP ViT-SO 224px", + "optimization_procedure": "single-stage", + "visual_representation": "SigLIP ViT-SO/14 @ 224px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + }, + }, + + "clip-336px-resize-crop+7b": { + "model_id": "clip-336px-resize-crop+7b", + "names": ["CLIP ViT-L 336px (Resize Crop)"], + "description": { + "name": "CLIP ViT-L 336px (Resize Crop)", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Resize Crop", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "clip-336px-resize-naive+7b": { + "model_id": "clip-336px-resize-naive+7b", + "names": ["CLIP ViT-L 336px (Naive Resize)", "CLIP 336px (Naive Resize)"], + "description": { + "name": "CLIP ViT-L 336px (Naive Resize)", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Naive Resize", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "siglip-384px-letterbox+7b": { + "model_id": "siglip-384px-letterbox+7b", + "names": ["SigLIP ViT-SO 384px (Letterbox)", "SigLIP ViT-SO 384px"], + "description": { + "name": "SigLIP ViT-SO 384px (Letterbox)", + "optimization_procedure": "single-stage", + "visual_representation": "SigLIP ViT-SO/14 @ 384px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "siglip-384px-resize-crop+7b": { + "model_id": "siglip-384px-resize-crop+7b", + "names": ["SigLIP ViT-SO 384px (Resize Crop)"], + "description": { + "name": "SigLIP ViT-SO 384px (Resize Crop)", + "optimization_procedure": "single-stage", + "visual_representation": "SigLIP ViT-SO/14 @ 384px", + "image_processing": "Resize Crop", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "siglip-384px-resize-naive+7b": { + "model_id": "siglip-384px-resize-naive+7b", + "names": ["SigLIP ViT-SO 384px (Naive Resize)", "SigLIP 384px (Naive Resize)"], + "description": { + "name": "SigLIP ViT-SO 384px (Naive Resize)", + "optimization_procedure": "single-stage", + "visual_representation": "SigLIP ViT-SO/14 @ 384px", + "image_processing": "Naive Resize", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + + "dinoclip-336px-letterbox+7b": { + "model_id": "dinoclip-336px-letterbox+7b", + "names": ["DINOv2 + CLIP 336px (Letterbox)"], + "description": { + "name": "DINOv2 + CLIP 336px (Letterbox)", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "dinoclip-336px-resize-naive+7b": { + "model_id": "dinoclip-336px-resize-naive+7b", + "names": ["DINOv2 + CLIP 336px (Naive Resize)"], + "description": { + "name": "DINOv2 + CLIP 336px (Naive Resize)", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + CLIP ViT-L/14 @ 336px", + "image_processing": "Naive Resize", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "dinosiglip-384px-letterbox+7b": { + "model_id": "dinosiglip-384px-letterbox+7b", + "names": ["DINOv2 + SigLIP 384px (Letterbox)"], + "description": { + "name": "DINOv2 + SigLIP 384px (Letterbox)", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + SigLIP ViT-L/14 @ 384px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "dinosiglip-384px-resize-naive+7b": { + "model_id": "dinosiglip-384px-resize-naive+7b", + "names": ["DINOv2 + SigLIP 384px (Naive Resize)"], + "description": { + "name": "DINOv2 + SigLIP 384px (Naive Resize)", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + SigLIP ViT-L/14 @ 384px", + "image_processing": "Naive Resize", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + + # === Section 4.3 :: Language Models === + "llama2+7b": { + "model_id": "llama2+7b", + "names": ["Llama-2 7B"], + "description": { + "name": "Llama-2 7B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Llama-2 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + }, + }, + "llama2+13b": { + "model_id": "llama2+13b", + "names": ["Llama-2 13B"], + "description": { + "name": "Llama-2 13B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Llama-2 13B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + }, + }, + + "vicuna-no-cotraining+7b": { + "model_id": "vicuna-no-cotraining+7b", + "names": ["Vicuña v1.5 7B (No Co-training)"], + "description": { + "name": "Vicuña v1.5 7B (No Co-training)", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Multimodal-Only"], + "train_epochs": 1, + }, + }, + "llama2-no-cotraining+7b": { + "model_id": "llama2-no-cotraining+7b", + "names": ["Llama-2 7B (No Co-training)"], + "description": { + "name": "Llama-2 7B (No Co-training)", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Llama-2 7B", + "datasets": ["LLaVa v1.5 Multimodal-Only"], + "train_epochs": 1, + }, + }, + + # === Section 4.4 :: Scaling Properties === + "train-1.25-epochs+7b": { + "model_id": "train-1.25-epochs+7b", + "names": ["1.25 Epochs"], + "description": { + "name": "1.25 Epochs", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1.25, + } + }, + "train-1.5-epochs+7b": { + "model_id": "train-1.5-epochs+7b", + "names": ["1.5 Epochs"], + "description": { + "name": "1.5 Epochs", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1.5, + } + }, + "train-2-epochs+7b": { + "model_id": "train-2-epochs+7b", + "names": ["2 Epochs"], + "description": { + "name": "2 Epochs", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 2, + } + }, + "train-3-epochs+7b": { + "model_id": "train-3-epochs+7b", + "names": ["3 Epochs"], + "description": { + "name": "3 Epochs", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 3, + } + }, + + "llava-lvis4v+7b": { + "model_id": "llava-lvis4v+7b", + "names": ["Base + LVIS-4V"], + "description": { + "name": "Base + LVIS-4V", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct", "LVIS-Instruct-4V"], + "train_epochs": 1, + } + }, + "llava-lrv+7b": { + "model_id": "llava-lrv+7b", + "names": ["Base + LRV"], + "description": { + "name": "Base + LRV", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct", "LRV-Instruct"], + "train_epochs": 1, + } + }, + "llava-lvis4v-lrv+7b": { + "model_id": "llava-lvis4v-lrv+7b", + "names": ["Base + LVIS-4V + LRV"], + "description": { + "name": "Base + LVIS-4V + LRV", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Vicuña v1.5 7B", + "datasets": ["LLaVa v1.5 Instruct", "LVIS-Instruct-4V", "LRV-Instruct"], + "train_epochs": 1, + } + }, + + # === + + # === CLIP Prism Models === + "prism-clip-controlled+7b": { + "model_id": "prism-clip-controlled+7b", + "names": ["Prism-CLIP 7B (Controlled)"], + "description": { + "name": "CLIP Prism 7B (Controlled)", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "prism-clip-controlled+13b": { + "model_id": "prism-clip-controlled+13b", + "names": ["Prism-CLIP 13B (Controlled)"], + "description": { + "name": "CLIP Prism 13B (Controlled)", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 13B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "prism-clip+7b": { + "model_id": "prism-clip+7b", + "names": ["Prism-CLIP 7B"], + "description": { + "name": "CLIP Prism 7B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 7B", + "datasets": ["LLaVa v1.5 Instruct", "LVIS-Instruct-4V", "LRV-Instruct"], + "train_epochs": 2, + }, + }, + "prism-clip+13b": { + "model_id": "prism-clip+13b", + "names": ["Prism-CLIP 13B"], + "description": { + "name": "CLIP Prism 13B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 13B", + "datasets": ["LLaVa v1.5 Instruct", "LVIS-Instruct-4V", "LRV-Instruct"], + "train_epochs": 2, + }, + }, + + # === SigLIP Prism Models == + "prism-siglip-controlled+7b": { + "model_id": "prism-siglip-controlled+7b", + "names": ["Prism-SigLIP 7B (Controlled)"], + "description": { + "name": "SigLIP Prism 7B (Controlled)", + "optimization_procedure": "single-stage", + "visual_representation": "SigLIP ViT-SO/14 @ 384px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "prism-siglip-controlled+13b": { + "model_id": "prism-siglip-controlled+7b", + "names": ["Prism-SigLIP 13B (Controlled)"], + "description": { + "name": "SigLIP Prism 13B (Controlled)", + "optimization_procedure": "single-stage", + "visual_representation": "SigLIP ViT-SO/14 @ 384px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 13B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "prism-siglip+7b": { + "model_id": "prism-siglip+7b", + "names": ["Prism-SigLIP 7B"], + "description": { + "name": "SigLIP Prism 7B", + "optimization_procedure": "single-stage", + "visual_representation": "SigLIP ViT-SO/14 @ 384px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 7B", + "datasets": ["LLaVa v1.5 Instruct", "LVIS-Instruct-4V", "LRV-Instruct"], + "train_epochs": 2, + } + }, + "prism-siglip+13b": { + "model_id": "prism-siglip+13b", + "names": ["Prism-SigLIP 13B"], + "description": { + "name": "SigLIP Prism 13B", + "optimization_procedure": "single-stage", + "visual_representation": "SigLIP ViT-SO/14 @ 384px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 13B", + "datasets": ["LLaVa v1.5 Instruct", "LVIS-Instruct-4V", "LRV-Instruct"], + "train_epochs": 2, + } + }, + + # === DINOSigLIP Prism Models === + "prism-dinosiglip-controlled+7b": { + "model_id": "prism-dinosiglip-controlled+7b", + "names": ["Prism-DINOSigLIP 7B (Controlled)", "Prism 7B (Controlled)"], + "description": { + "name": "DINOSigLIP Prism 7B (Controlled)", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + SigLIP ViT-SO/14 @ 384px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "prism-dinosiglip-controlled+13b": { + "model_id": "prism-dinosiglip-controlled+13b", + "names": ["Prism-DINOSigLIP 13B (Controlled)", "Prism 13B (Controlled)"], + "description": { + "name": "DINOSigLIP Prism 13B (Controlled)", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + SigLIP ViT-SO/14 @ 384px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 13B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "prism-dinosiglip+7b": { + "model_id": "prism-dinosiglip+7b", + "names": ["Prism-DINOSigLIP 7B"], + "description": { + "name": "DINOSigLIP Prism 7B", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + SigLIP ViT-SO/14 @ 384px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 7B", + "datasets": ["LLaVa v1.5 Instruct", "LVIS-Instruct-4V", "LRV-Instruct"], + "train_epochs": 2, + }, + }, + "prism-dinosiglip+13b": { + "model_id": "prism-dinosiglip+13b", + "names": ["Prism-DINOSigLIP 13B"], + "description": { + "name": "DINOSigLIP Prism 13B", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + SigLIP ViT-SO/14 @ 384px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 13B", + "datasets": ["LLaVa v1.5 Instruct", "LVIS-Instruct-4V", "LRV-Instruct"], + "train_epochs": 2, + }, + }, + + # === DINOSigLIP 224px Prism Models === + "prism-dinosiglip-224px-controlled+7b": { + "model_id": "prism-dinosiglip-224px-controlled+7b", + "names": ["Prism-DINOSigLIP 224px 7B (Controlled)"], + "description": { + "name": "DINOSigLIP 224px 7B (Controlled)", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + SigLIP ViT-SO 14 @ 224px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "prism-dinosiglip-224px+7b": { + "model_id": "prism-dinosiglip-224px+7b", + "names": ["Prism-DINOSigLIP 224px 7B"], + "description": { + "name": "DINOSigLIP 224px 7B", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + SigLIP ViT-SO 14 @ 224px", + "image_processing": "Naive Resize", + "language_model": "Llama-2 7B", + "datasets": ["LLaVa v1.5 Instruct", "LVIS-Instruct-4V", "LRV-Instruct"], + "train_epochs": 2, + } + }, + + # === Additional LLM Backbones === + "llama2-chat+7b": { + "model_id": "llama2-chat+7b", + "names": ["Llama-2 Chat 7B"], + "description": { + "name": "Llama-2 Chat 7B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Llama-2 Chat 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "llama2-chat+13b": { + "model_id": "llama2-chat+13b", + "names": ["Llama-2 Chat 13B"], + "description": { + "name": "Llama-2 Chat 13B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Llama-2 Chat 13B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "mistral-v0.1+7b": { + "model_id": "mistral-v0.1+7b", + "names": ["Mistral v0.1 7B"], + "description": { + "name": "Mistral v0.1 7B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Mistral v0.1 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "mistral-instruct-v0.1+7b": { + "model_id": "mistral-instruct-v0.1+7b", + "names": ["Mistral Instruct v0.1 7B"], + "description": { + "name": "Mistral Instruct v0.1 7B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Mistral Instruct v0.1 7B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "phi-2+3b": { + "model_id": "phi-2+3b", + "names": ["Phi-2 3B"], + "description": { + "name": "Phi-2 3B", + "optimization_procedure": "single-stage", + "visual_representation": "CLIP ViT-L/14 @ 336px", + "image_processing": "Letterbox", + "language_model": "Phi-2 3B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + "prism-qwen25-dinosiglip-224px+0_5b": { + "model_id": "prism-qwen25-dinosiglip-224px+0_5b", + "names": ["Prism-DINOSigLIP 224px w/ Qwen2.5 0.5B"], + "description": { + "name": "DINOSigLIP 224px Qwen2.5 0.5B", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + SigLIP ViT-SO 14 @ 224px", + "image_processing": "Naive Resize", + "language_model": "Qwen2.5 0.5B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, + + "prism-qwen25-extra-dinosiglip-224px+0_5b": { + "model_id": "prism-qwen25-extra-dinosiglip-224px+0_5b", + "names": ["Prism-DINOSigLIP 224px w/ Qwen2.5 0.5B"], + "description": { + "name": "DINOSigLIP 224px Qwen2.5 0.5B", + "optimization_procedure": "single-stage", + "visual_representation": "DINOv2 ViT-L/14 + SigLIP ViT-SO 14 @ 224px", + "image_processing": "Naive Resize", + "language_model": "Qwen2.5 0.5B", + "datasets": ["LLaVa v1.5 Instruct"], + "train_epochs": 1, + } + }, +} + +# Build Global Registry (Model ID, Name) -> Metadata +GLOBAL_REGISTRY = {name: v for k, v in MODEL_REGISTRY.items() for name in [k] + v["names"]} + +# fmt: on diff --git a/VLA-Adapter-UAV/prismatic/models/transformer_utils.py b/VLA-Adapter-UAV/prismatic/models/transformer_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..c71fa8d3f3b363ee6e6f7d9f8a2c213a9116f6ea --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/transformer_utils.py @@ -0,0 +1,459 @@ +# Deformable DETR +# Copyright (c) 2020 SenseTime. All Rights Reserved. +# Licensed under the Apache License, Version 2.0 [see LICENSE for details] +# ------------------------------------------------------------------------------------------------ +# Modified from: +# https://github.com/fundamentalvision/Deformable-DETR/blob/main/models/ops/functions/ms_deform_attn_func.py +# https://github.com/fundamentalvision/Deformable-DETR/blob/main/models/ops/modules/ms_deform_attn.py +# https://github.com/open-mmlab/mmcv/blob/master/mmcv/ops/multi_scale_deform_attn.py +# ------------------------------------------------------------------------------------------------ + +import math +import warnings +from typing import Optional + +import torch +import torch.nn as nn +from torch import einsum +import torch.nn.functional as F +from torch.autograd import Function +from torch.autograd.function import once_differentiable +from torch.nn.init import constant_, xavier_uniform_ +# from einops import rearrange, repeat +# from torch import einsum +# from einops_exts import rearrange_many, repeat_many + +# helpers +def _is_power_of_2(n): + if (not isinstance(n, int)) or (n < 0): + raise ValueError("invalid input for _is_power_of_2: {} (type: {})".format(n, type(n))) + return (n & (n - 1) == 0) and n != 0 + + +class RGBDFuser(nn.Module): + def __init__(self, in_channels: int, out_channels: int, patch_num: int) -> None: + super().__init__() + self.in_channels = in_channels + self.out_channels = out_channels + self.patch_num = patch_num + self.conv = nn.Conv2d(in_channels, out_channels, kernel_size=3, padding=1) + + self.channel_selection = nn.Sequential( + nn.Linear(out_channels, out_channels), + nn.Sigmoid() + ) + + def forward(self, inputs_rgb: torch.Tensor, inputs_depth: torch.Tensor) -> torch.Tensor: + inputs = torch.cat([inputs_rgb, inputs_depth], dim=-1)[:, 1:] + inputs = rearrange(inputs, 'b (h w) d -> b d h w', h=self.patch_num, w=self.patch_num) + feature = self.conv(inputs) + feature = rearrange(feature, 'b d h w -> b (h w) d') + selection_weights = self.channel_selection(feature.mean(dim=1)) + + # channel-wise multiply + feature = feature * selection_weights.unsqueeze(1) + + return feature + + +class TransFuser(nn.Module): + def __init__(self, vis_channels: int, depth_channels: int, tgt_channels: int, num_heads: int) -> None: + super().__init__() + self.attn = CrossAttentionBlock( + v_dim = tgt_channels, + l_dim = tgt_channels, + embed_dim = tgt_channels, + num_heads = num_heads, + ) + + self.proj_vis = nn.Linear(vis_channels, tgt_channels) + self.proj_depth = nn.Linear(depth_channels, tgt_channels) + + + def forward(self, inputs_rgb: torch.Tensor, inputs_depth: torch.Tensor) -> torch.Tensor: + concat_feature = torch.cat([self.proj_vis(inputs_rgb), self.proj_depth(inputs_depth)], dim=1) + concat_feature = self.attn(concat_feature, concat_feature) + + return concat_feature + +# RMSNorm -- Better, simpler alternative to LayerNorm +class RMSNorm(nn.Module): + def __init__(self, dim: int, eps: float = 1e-8) -> None: + super().__init__() + self.scale, self.eps = dim**-0.5, eps + self.g = nn.Parameter(torch.ones(dim)) + + def forward(self, x: torch.Tensor) -> torch.Tensor: + norm = torch.norm(x, dim=-1, keepdim=True) * self.scale + return x / norm.clamp(min=self.eps) * self.g + + +# SwishGLU -- A Gated Linear Unit (GLU) with the Swish activation; always better than GELU MLP! +class SwishGLU(nn.Module): + def __init__(self, in_dim: int, out_dim: int) -> None: + super().__init__() + self.act, self.project = nn.SiLU(), nn.Linear(in_dim, 2 * out_dim) + + def forward(self, x: torch.Tensor) -> torch.Tensor: + projected, gate = self.project(x).tensor_split(2, dim=-1) + return projected * self.act(gate) + + +# As defined in Set Transformers () -- basically the above, additionally taking in +# a set of $k$ learned "seed vectors" that are used to "pool" information. +class MAPAttention(nn.Module): + def __init__(self, embed_dim: int, n_heads: int) -> None: + """Multi-Input Multi-Headed Attention Operation""" + super().__init__() + assert embed_dim % n_heads == 0, "`embed_dim` must be divisible by `n_heads`!" + self.n_heads, self.scale = n_heads, (embed_dim // n_heads) ** -0.5 + + # Projections (no bias) --> separate for Q (seed vector), and KV ("pool" inputs) + self.q, self.kv = nn.Linear(embed_dim, embed_dim, bias=False), nn.Linear(embed_dim, 2 * embed_dim, bias=False) + self.proj = nn.Linear(embed_dim, embed_dim) + + def forward(self, seed: torch.Tensor, x: torch.Tensor, attention_mask = None) -> torch.Tensor: + (B_s, K, C_s), (B_x, N, C_x) = seed.shape, x.shape + assert C_s == C_x, "Seed vectors and pool inputs must have the same embedding dimensionality!" + + # Project Seed Vectors to `queries` + q = self.q(seed).reshape(B_s, K, self.n_heads, C_s // self.n_heads).permute(0, 2, 1, 3) + kv = self.kv(x).reshape(B_x, N, 2, self.n_heads, C_x // self.n_heads).permute(2, 0, 3, 1, 4) + k, v = kv.unbind(0) + + # Attention --> compute weighted sum over values! + scores = q @ (k.transpose(-2, -1) * self.scale) + # print(scores.shape) + if attention_mask is not None: + attention_mask = ( + attention_mask[None, None, :, :].repeat(1, self.n_heads, 1, 1) #.flatten(0, 1) + ) + scores.masked_fill_(attention_mask == 0, float("-inf")) + attn = scores.softmax(dim=-1) + + + vals = (attn @ v).transpose(1, 2).reshape(B_s, K, C_s) + + # Project back to `embed_dim` + return self.proj(vals) + + +class MAPBlock(nn.Module): + def __init__( + self, + n_latents: int, + vis_dim: int, + embed_dim: int, + n_heads: int, + mlp_ratio: float = 4.0, + do_rms_norm: bool = True, + do_swish_glu: bool = True, + ) -> None: + """Multiheaded Attention Pooling Block -- note that for MAP, we adopt earlier post-norm conventions.""" + super().__init__() + self.n_latents, self.embed_dim, self.n_heads = n_latents, embed_dim, n_heads + + # Projection Operator + self.projection = nn.Linear(vis_dim, self.embed_dim) + + # Initialize Latents + self.latents = nn.Parameter(torch.zeros(self.n_latents, self.embed_dim), requires_grad=True) + nn.init.normal_(self.latents, std=0.02) + + # Custom MAP Attention (seed, encoder outputs) -> seed + self.attn_norm = RMSNorm(self.embed_dim) if do_rms_norm else nn.LayerNorm(self.embed_dim, eps=1e-6) + self.attn = MAPAttention(self.embed_dim, n_heads=self.n_heads) + + # Position-wise Feed-Forward Components + self.mlp_norm = RMSNorm(self.embed_dim) if do_rms_norm else nn.LayerNorm(self.embed_dim, eps=1e-6) + self.mlp = nn.Sequential( + # Handle SwishGLU vs. GELU MLP... + ( + SwishGLU(self.embed_dim, int(mlp_ratio * self.embed_dim)) + if do_swish_glu + else nn.Sequential(nn.Linear(self.embed_dim, int(mlp_ratio * self.embed_dim)), nn.GELU()) + ), + nn.Linear(int(mlp_ratio * self.embed_dim), self.embed_dim), + ) + + def forward(self, x: torch.Tensor, mask = None, init_embed = None) -> torch.Tensor: + latents = repeat(self.latents, "n_latents d -> bsz n_latents d", bsz=x.shape[0]) + latents = latents + init_embed.unsqueeze(1) if init_embed is not None else latents + latents = self.attn_norm(latents + self.attn(latents, self.projection(x), mask)) + latents = self.mlp_norm(latents + self.mlp(latents)) + return latents.squeeze(dim=1) + + +class CrossAttention(nn.Module): + def __init__(self, v_dim, l_dim, embed_dim, num_heads, dropout=0.1, cfg=None, RoPE=False): + super(CrossAttention, self).__init__() + + self.embed_dim = embed_dim + self.num_heads = num_heads + self.head_dim = embed_dim // num_heads + self.v_dim = v_dim + self.l_dim = l_dim + + assert ( + self.head_dim * self.num_heads == self.embed_dim + ), f"embed_dim must be divisible by num_heads (got `embed_dim`: {self.embed_dim} and `num_heads`: {self.num_heads})." + self.scale = self.head_dim ** (-0.5) + self.dropout = dropout + + self.v_proj = nn.Linear(self.v_dim, self.embed_dim) + self.l_proj = nn.Linear(self.l_dim, self.embed_dim) + self.values_l_proj = nn.Linear(self.l_dim, self.embed_dim) + + self.out_v_proj = nn.Linear(self.embed_dim, self.v_dim) + + self.stable_softmax_2d = True + self.clamp_min_for_underflow = True + self.clamp_max_for_overflow = True + + self._reset_parameters() + + def _shape(self, tensor: torch.Tensor, seq_len: int, bsz: int): + return tensor.view(bsz, seq_len, self.num_heads, self.head_dim).transpose(1, 2).contiguous() + + def _reset_parameters(self): + nn.init.xavier_uniform_(self.v_proj.weight) + self.v_proj.bias.data.fill_(0) + + nn.init.xavier_uniform_(self.l_proj.weight) + self.l_proj.bias.data.fill_(0) + + nn.init.xavier_uniform_(self.values_l_proj.weight) + self.values_l_proj.bias.data.fill_(0) + + nn.init.xavier_uniform_(self.out_v_proj.weight) + self.out_v_proj.bias.data.fill_(0) + + + def forward(self, v, l, attention_mask_v=None, attention_mask_l=None): + """_summary_ + + Args: + v (_type_): bs, n_img, dim + l (_type_): bs, n_text, dim + attention_mask_v (_type_, optional): _description_. bs, n_img + attention_mask_l (_type_, optional): _description_. bs, n_text + + Returns: + _type_: _description_ + """ + bsz, tgt_len, _ = v.size() + + query_states = self.v_proj(v) * self.scale + key_states = self.l_proj(l) + + key_states = self._shape(key_states, -1, bsz) + value_l_states = self._shape(self.values_l_proj(l), -1, bsz) + proj_shape = (bsz * self.num_heads, -1, self.head_dim) + query_states = self._shape(query_states, tgt_len, bsz).view(*proj_shape) + key_states = key_states.view(*proj_shape) + + value_l_states = value_l_states.view(*proj_shape) + + src_len = key_states.size(1) + attn_weights = torch.bmm(query_states, key_states.transpose(1, 2)) # bs*nhead, nimg, ntxt + + if attn_weights.size() != (bsz * self.num_heads, tgt_len, src_len): + raise ValueError( + f"Attention weights should be of size {(bsz * self.num_heads, tgt_len, src_len)}, but is {attn_weights.size()}" + ) + + if self.stable_softmax_2d: + attn_weights = attn_weights - attn_weights.max() + + if self.clamp_min_for_underflow: + attn_weights = torch.clamp( + attn_weights, min=-50000 + ) # Do not increase -50000, data type half has quite limited range + if self.clamp_max_for_overflow: + attn_weights = torch.clamp( + attn_weights, max=50000 + ) # Do not increase 50000, data type half has quite limited range + + # mask language for vision + if attention_mask_l is not None: + attention_mask_l = ( + attention_mask_l[:, None, None, :].repeat(1, self.num_heads, 1, 1).flatten(0, 1) + ) + attn_weights.masked_fill_(attention_mask_l == 0, float("-inf")) + attn_weights_v = attn_weights.softmax(dim=-1) + + if key_states.size(1) > 1: # only apply dropout if multiple keys + attn_probs_v = F.dropout(attn_weights_v, p=self.dropout, training=self.training) + else: + attn_probs_v = attn_weights_v + + attn_output_v = torch.bmm(attn_probs_v, value_l_states) + + + if attn_output_v.size() != (bsz * self.num_heads, tgt_len, self.head_dim): + raise ValueError( + f"`attn_output_v` should be of size {(bsz, self.num_heads, tgt_len, self.head_dim)}, but is {attn_output_v.size()}" + ) + + attn_output_v = attn_output_v.view(bsz, self.num_heads, tgt_len, self.head_dim) + attn_output_v = attn_output_v.transpose(1, 2) + attn_output_v = attn_output_v.reshape(bsz, tgt_len, self.embed_dim) + + attn_output_v = self.out_v_proj(attn_output_v) + + return attn_output_v + + +class CrossAttentionBlock(nn.Module): + def __init__( + self, + v_dim, + l_dim, + embed_dim, + num_heads, + dropout=0.1, + drop_path=0.0, + init_values=1e-4, + cfg=None, + RoPE=False, + ): + """ + Inputs: + embed_dim - Dimensionality of input and attention feature vectors + num_heads - Number of heads to use in the Multi-Head Attention block + dropout - Amount of dropout to apply in the feed-forward network + """ + super(CrossAttentionBlock, self).__init__() + + # pre layer norm + self.layer_norm_v = nn.LayerNorm(v_dim) + self.layer_norm_l = nn.LayerNorm(l_dim) + self.attn = CrossAttention( + v_dim=v_dim, l_dim=l_dim, embed_dim=embed_dim, num_heads=num_heads, dropout=dropout, RoPE=RoPE + ) + + # add layer scale for training stability + self.drop_path = DropPath(drop_path) if drop_path > 0.0 else nn.Identity() + self.gamma_v = nn.Parameter(init_values * torch.ones((v_dim)), requires_grad=True) + + + def forward(self, v, l, attention_mask_v=None, attention_mask_l=None): + org_v = v + v = self.layer_norm_v(v) + l = self.layer_norm_l(l) + delta_v = self.attn( + v, l, attention_mask_v=attention_mask_v, attention_mask_l=attention_mask_l + ) + v = org_v + self.drop_path(self.gamma_v * delta_v) + + return v + + + +def FeedForward(dim, mult = 4): + inner_dim = int(dim * mult) + return nn.Sequential( + nn.LayerNorm(dim), + nn.Linear(dim, inner_dim, bias = False), + nn.GELU(), + nn.Linear(inner_dim, dim, bias = False) + ) + +class PerceiverAttention(nn.Module): + def __init__( + self, + *, + dim, + dim_head = 64, + heads = 8 + ): + super().__init__() + self.scale = dim_head ** -0.5 + self.heads = heads + inner_dim = dim_head * heads + + self.norm_media = nn.LayerNorm(dim) + self.norm_latents = nn.LayerNorm(dim) + + self.to_q = nn.Linear(dim, inner_dim, bias = False) + self.to_kv = nn.Linear(dim, inner_dim * 2, bias = False) + self.to_out = nn.Linear(inner_dim, dim, bias = False) + + def forward(self, x, latents): + """ + einstein notation + b - batch + t - time + n - sequence + d - dimension + """ + x = self.norm_media(x) + latents = self.norm_latents(latents) + + b, m, h = *x.shape[:2], self.heads + + q = self.to_q(latents) + + # the paper differs from Perceiver in which they also concat the key / values derived from the latents to be attended to + kv_input = torch.cat((x, latents), dim = -2) + k, v = self.to_kv(kv_input).chunk(2, dim = -1) + + q, k, v = rearrange_many((q, k, v), 'b t n (h d) -> b h t n d', h = h) + + q = q * self.scale + + # attention + + sim = einsum('... i d, ... j d -> ... i j', q, k) + + sim = sim - sim.amax(dim = -1, keepdim = True).detach() + attn = sim.softmax(dim = -1) + + out = einsum('... i j, ... j d -> ... i d', attn, v) + out = rearrange(out, 'b h t n d -> b t n (h d)', h = h) + return self.to_out(out) + +class PerceiverResampler(nn.Module): + def __init__( + self, + *, + dim, + vis_dim, + depth, + dim_head = 64, + heads = 8, + num_latents = 64, + num_media_embeds = 4, + ff_mult = 4, + ): + super().__init__() + self.latents = nn.Parameter(torch.randn(num_latents, dim)) + self.num_media_embeds = num_media_embeds + self.media_pos_emb = nn.Parameter(torch.randn(num_media_embeds, 1, vis_dim)) + self.proj = nn.Linear(vis_dim, dim) + dim_head = dim // heads + + self.layers = nn.ModuleList([]) + for _ in range(depth): + self.layers.append(nn.ModuleList([ + PerceiverAttention(dim = dim, dim_head = dim_head, heads = heads), + FeedForward(dim = dim, mult = ff_mult) + ])) + + self.norm = nn.LayerNorm(dim) + + def forward(self, x): + if x.ndim == 3: + x = rearrange(x, 'b n d -> b 1 n d') + + times = x.shape[1] + x = x + self.media_pos_emb[:times] + x = self.proj(x) + + latents = repeat(self.latents, 'n d -> b m n d', b = x.shape[0], m = self.num_media_embeds) + + for attn, ff in self.layers: + latents = attn(x, latents) + latents + latents = ff(latents) + latents + + return self.norm(latents) diff --git a/VLA-Adapter-UAV/prismatic/models/vlas/__init__.py b/VLA-Adapter-UAV/prismatic/models/vlas/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..fd8e82c9b39c6b9f6d785121c87743187853c47a --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/vlas/__init__.py @@ -0,0 +1 @@ +from .openvla import OpenVLA diff --git a/VLA-Adapter-UAV/prismatic/models/vlas/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/models/vlas/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..5039aaab711c3609315ab8fa9f1f9249534b0195 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/models/vlas/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/models/vlas/__pycache__/openvla.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/models/vlas/__pycache__/openvla.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..d3bf553a7c5ec8adef89d995d91ce6c3db823daa Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/models/vlas/__pycache__/openvla.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/models/vlas/openvla.py b/VLA-Adapter-UAV/prismatic/models/vlas/openvla.py new file mode 100644 index 0000000000000000000000000000000000000000..8b488746eb841c111bfd37d9cd7bcf61bb7cac00 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/vlas/openvla.py @@ -0,0 +1,135 @@ +""" +openvla.py + +PyTorch Module defining OpenVLA as a lightweight wrapper around a PrismaticVLM; defines custom logic around +discretizing actions with the ActionTokenizer. +""" + +from typing import Dict, List, Optional, Union + +import numpy as np +import torch +from PIL.Image import Image as Img +from transformers import LlamaTokenizerFast +from transformers.models.qwen2.tokenization_qwen2_fast import Qwen2TokenizerFast + +from prismatic.models.vlms.prismatic import PrismaticVLM +from prismatic.overwatch import initialize_overwatch +from prismatic.vla.action_tokenizer import ActionTokenizer + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +class OpenVLA(PrismaticVLM): + def __init__( + self, + *args, + norm_stats: Dict[str, Dict[str, Dict[str, Dict[str, List[float]]]]], + action_tokenizer: ActionTokenizer, + **kwargs, + ) -> None: + super().__init__(*args, **kwargs) + self.norm_stats = norm_stats + self.action_tokenizer = action_tokenizer + + @torch.inference_mode() + def predict_action( + self, image: Union[Img, List[Img]], instruction: str, unnorm_key: Optional[str] = None, **kwargs: str + ) -> np.ndarray: + """ + Core function for VLA inference; maps input image and task instruction to continuous action (de-tokenizes). + + @param image: PIL Image as [height, width, 3] + @param instruction: Task instruction string + @param unnorm_key: Optional dataset name for retrieving un-normalizing statistics; if None, checks that model + was trained only on a single dataset, and retrieves those statistics. + + @return Unnormalized (continuous) action vector --> end-effector deltas. + """ + image_transform, tokenizer = self.vision_backbone.get_image_transform(), self.llm_backbone.tokenizer + + # Build VLA Prompt + prompt_builder = self.get_prompt_builder() + prompt_builder.add_turn(role="human", message=f"What action should the robot take to {instruction.lower()}?") + prompt_text = prompt_builder.get_prompt() + + # Prepare Inputs + input_ids = tokenizer(prompt_text, truncation=True, return_tensors="pt").input_ids.to(self.device) + if isinstance(tokenizer, LlamaTokenizerFast): + # If the special empty token ('') does not already appear after the colon (':') token in the prompt + # (after "OUT:" or "ASSISTANT:"), insert it to match the inputs seen at training time + if not torch.all(input_ids[:, -1] == 29871): + input_ids = torch.cat( + (input_ids, torch.unsqueeze(torch.Tensor([29871]).long(), dim=0).to(input_ids.device)), dim=1 + ) + elif isinstance(tokenizer, Qwen2TokenizerFast): + # do nothing here. I think... + pass + else: + raise ValueError(f"Unsupported `tokenizer` type = {type(tokenizer)}") + + # Preprocess Image + pixel_values = image_transform(image) + if isinstance(pixel_values, torch.Tensor): + pixel_values = pixel_values[None, ...].to(self.device) + elif isinstance(pixel_values, dict): + pixel_values = {k: v[None, ...].to(self.device) for k, v in pixel_values.items()} + else: + raise ValueError(f"Unsupported `pixel_values` type = {type(pixel_values)}") + + # Invoke super().generate --> taps into `GenerationMixin` which (redirects) to `forward()` + autocast_dtype = self.llm_backbone.half_precision_dtype + with torch.autocast("cuda", dtype=autocast_dtype, enabled=self.enable_mixed_precision_training): + # fmt: off + generated_ids = super(PrismaticVLM, self).generate( + input_ids=input_ids, # Shape: [1, seq] + pixel_values=pixel_values, # Shape: [1, (opt T,) 3, res, res] or Dict[str, ...] + max_new_tokens=self.get_action_dim(unnorm_key), + **kwargs + ) + # fmt: on + + # Extract predicted action tokens and translate into (normalized) continuous actions + predicted_action_token_ids = generated_ids[0, -self.get_action_dim(unnorm_key) :] + normalized_actions = self.action_tokenizer.decode_token_ids_to_actions(predicted_action_token_ids.cpu().numpy()) + + # Un-normalize Actions + action_norm_stats = self.get_action_stats(unnorm_key) + mask = action_norm_stats.get("mask", np.ones_like(action_norm_stats["q01"], dtype=bool)) + action_high, action_low = np.array(action_norm_stats["q99"]), np.array(action_norm_stats["q01"]) + actions = np.where( + mask, + 0.5 * (normalized_actions + 1) * (action_high - action_low) + action_low, + normalized_actions, + ) + + return actions + + @staticmethod + def _check_unnorm_key(norm_stats: Dict, unnorm_key: str) -> str: + if unnorm_key is None: + assert len(norm_stats) == 1, ( + f"Your model was trained on more than one dataset, please pass a `unnorm_key` from the following " + f"options to choose the statistics used for un-normalizing actions: {norm_stats.keys()}" + ) + unnorm_key = next(iter(norm_stats.keys())) + + # Error Handling + assert ( + unnorm_key in norm_stats + ), f"The `unnorm_key` you chose is not in the set of available statistics; choose from: {norm_stats.keys()}" + + return unnorm_key + + def get_action_dim(self, unnorm_key: Optional[str] = None) -> int: + """Dimensionality of the policy's action space.""" + unnorm_key = self._check_unnorm_key(self.norm_stats, unnorm_key) + + return len(self.norm_stats[unnorm_key]["action"]["q01"]) + + def get_action_stats(self, unnorm_key: Optional[str] = None) -> Dict: + """Dimensionality of the policy's action space.""" + unnorm_key = self._check_unnorm_key(self.norm_stats, unnorm_key) + + return self.norm_stats[unnorm_key]["action"] \ No newline at end of file diff --git a/VLA-Adapter-UAV/prismatic/models/vlms/__init__.py b/VLA-Adapter-UAV/prismatic/models/vlms/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5a31406e6f47bd5f3f75df046d8f64def2356a99 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/vlms/__init__.py @@ -0,0 +1 @@ +from .prismatic import PrismaticVLM diff --git a/VLA-Adapter-UAV/prismatic/models/vlms/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/models/vlms/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..93c50b5578290337eebdc7d530c8262c35f63bf1 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/models/vlms/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/models/vlms/__pycache__/base_vlm.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/models/vlms/__pycache__/base_vlm.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..d7796fba152fb107105070f984f71e623e90b7d5 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/models/vlms/__pycache__/base_vlm.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/models/vlms/__pycache__/prismatic.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/models/vlms/__pycache__/prismatic.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..ff2e513f70956e4cb02bb206d88e4d7ceaf08ddf Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/models/vlms/__pycache__/prismatic.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/models/vlms/base_vlm.py b/VLA-Adapter-UAV/prismatic/models/vlms/base_vlm.py new file mode 100644 index 0000000000000000000000000000000000000000..3c1049501b1156c02acf116891df3296e1177c3f --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/vlms/base_vlm.py @@ -0,0 +1,108 @@ +""" +base_vlm.py + +Abstract class definition of a Vision-Language Model (VLM), with full annotations of class methods, utility functions, +and initialization logic. This is mostly to future-proof the codebase; while all our experiments instantiate +from PrismaticVLM, theoretically, this base class should be general enough to cover almost all models (e.g., IDEFICS, +PALI, Fuyu) in the future. + +We use Abstract base classes *sparingly* -- mostly as a way to encapsulate any redundant logic or nested inheritance +(e.g., dependence on nn.Module, HF PretrainedModel, etc.). For other abstract objects (e.g., Tokenizers/Transforms), +prefer Protocol definitions instead. +""" + +from __future__ import annotations + +from abc import ABC, abstractmethod +from pathlib import Path +from typing import Callable, List, Optional + +import torch +import torch.nn as nn +from transformers import GenerationMixin, PretrainedConfig +from transformers.modeling_outputs import CausalLMOutputWithPast + +from prismatic.models.backbones.llm import LLMBackbone +from prismatic.models.backbones.llm.prompting import PromptBuilder +from prismatic.models.backbones.vision import VisionBackbone + + +# === Abstract Base Class for arbitrary Vision-Language Models === +class VLM(nn.Module, GenerationMixin, ABC): + def __init__( + self, + model_family: str, + model_id: str, + vision_backbone: VisionBackbone, + llm_backbone: LLMBackbone, + enable_mixed_precision_training: bool = True, + ) -> None: + super().__init__() + self.model_family, self.model_id = model_family, model_id + self.vision_backbone, self.llm_backbone = vision_backbone, llm_backbone + self.enable_mixed_precision_training = enable_mixed_precision_training + + # Instance Attributes for a generic VLM + self.all_module_keys, self.trainable_module_keys = None, None + + # === GenerationMixin Expected Attributes =>> *DO NOT MODIFY* === + self.generation_config = self.llm_backbone.llm.generation_config + self.main_input_name = "input_ids" + + @property + def device(self) -> torch.device: + """Borrowed from `transformers.modeling_utils.py` -- checks parameter device; assumes model on *ONE* device!""" + return next(self.parameters()).device + + @classmethod + @abstractmethod + def from_pretrained( + cls, + pretrained_checkpoint: Path, + model_family: str, + model_id: str, + vision_backbone: VisionBackbone, + llm_backbone: LLMBackbone, + **kwargs: str, + ) -> VLM: ... + + @abstractmethod + def get_prompt_builder(self, system_prompt: Optional[str] = None) -> PromptBuilder: ... + + @abstractmethod + def freeze_backbones(self, stage: str) -> None: ... + + @abstractmethod + def load_from_checkpoint(self, stage: str, run_dir: Path, pretrained_checkpoint: Optional[Path] = None) -> None: ... + + @abstractmethod + def get_fsdp_wrapping_policy(self) -> Callable: ... + + @abstractmethod + def forward( + self, + input_ids: Optional[torch.LongTensor] = None, + attention_mask: Optional[torch.Tensor] = None, + pixel_values: Optional[torch.FloatTensor] = None, + labels: Optional[torch.LongTensor] = None, + inputs_embeds: Optional[torch.FloatTensor] = None, + past_key_values: Optional[List[torch.FloatTensor]] = None, + use_cache: Optional[bool] = None, + output_attentions: Optional[bool] = None, + output_hidden_states: Optional[bool] = None, + return_dict: Optional[bool] = None, + multimodal_indices: Optional[torch.LongTensor] = None, + ) -> CausalLMOutputWithPast: ... + + # === GenerationMixin Expected Properties & Methods (DO NOT MODIFY) === + @staticmethod + def can_generate() -> bool: + return True + + @property + def config(self) -> PretrainedConfig: + return self.llm_backbone.llm.config + + # => Beam Search Utility + def _reorder_cache(self, past_key_values, beam_idx): + return self.llm_backbone.llm._reorder_cache(past_key_values, beam_idx) diff --git a/VLA-Adapter-UAV/prismatic/models/vlms/prismatic.py b/VLA-Adapter-UAV/prismatic/models/vlms/prismatic.py new file mode 100644 index 0000000000000000000000000000000000000000..f6d1a6aac97b724d9148dec818581a91790c285f --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/models/vlms/prismatic.py @@ -0,0 +1,621 @@ +""" +prismatic.py + +PyTorch Module defining a PrismaticVLM, our general interface for defining the various different VLMs in our work. + +Notes: + - For now, we don't subclass `transformers.PretrainedModel` (or CausalLM). Instead, we assume a very limited subset + of the {Model}ForCausalLM API that enables dispatch to the underlying LLM's `generate` utilities (feeding inputs + through our custom projection shim). +""" + +from __future__ import annotations + +from functools import partial +from pathlib import Path +from typing import Callable, Dict, List, Optional, Type, Union + +import torch +from PIL import Image +from torch.distributed.fsdp.wrap import _module_wrap_policy, _or_policy +from transformers.modeling_outputs import CausalLMOutputWithPast + +from prismatic.models.backbones.llm import LLMBackbone +from prismatic.models.backbones.llm.prompting import PromptBuilder +from prismatic.models.backbones.vision import VisionBackbone +from prismatic.models.vlms.base_vlm import VLM +from prismatic.overwatch import initialize_overwatch +from prismatic.util.nn_utils import FusedMLPProjector, LinearProjector, MLPProjector + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +# HuggingFace Default / LLaMa-2 IGNORE_INDEX (for labels) +IGNORE_INDEX = -100 + + +class PrismaticVLM(VLM): + def __init__( + self, + model_id: str, + vision_backbone: VisionBackbone, + llm_backbone: LLMBackbone, + enable_mixed_precision_training: bool = True, + arch_specifier: str = "gelu-mlp", + **kwargs, + ) -> None: + super().__init__( + "prismatic", + model_id, + vision_backbone, + llm_backbone, + enable_mixed_precision_training=enable_mixed_precision_training, + ) + + # Set Weight Initialization Seed for Projector Consistency + torch.manual_seed(vision_backbone.embed_dim) + + # Initialize Projection (Adapter) based on `arch_specifier` + self.arch_specifier = arch_specifier + if arch_specifier == "linear": + self.projector = LinearProjector(vision_backbone.embed_dim, llm_backbone.embed_dim) + elif arch_specifier.endswith("fused-gelu-mlp"): + self.projector = FusedMLPProjector(vision_backbone.embed_dim, llm_backbone.embed_dim) + elif arch_specifier.endswith("gelu-mlp"): + self.projector = MLPProjector(vision_backbone.embed_dim, llm_backbone.embed_dim) + else: + raise ValueError(f"PrismaticVLM with `{arch_specifier = }` is not supported!") + + # Trackers + self.vision_backbone_requires_grad = False + + # Set Module Keys =>> used in Checkpoint Saving / Model Loading + self.all_module_keys = ["vision_backbone", "llm_backbone", "projector"] + self.trainable_module_keys = [] + + # === Generation Utilities === + # => For computing likelihoods --> get tokens corresponding to "True", "False" and "Yes", "No" + self.string2idx = {} + for trigger_string in ["True", "False", "Yes", "No"] + [chr(ord("A") + i) for i in range(26)]: + token_idx_list = self.llm_backbone.tokenizer.encode(trigger_string, add_special_tokens=False) + assert len(token_idx_list) == 1, f'String "{trigger_string}" is tokenized as more than one token!' + self.string2idx[trigger_string] = token_idx_list[0] + + @classmethod + def from_pretrained( + cls, + pretrained_checkpoint: Path, + model_id: str, + vision_backbone: VisionBackbone, + llm_backbone: LLMBackbone, + enable_mixed_precision_training: bool = True, + arch_specifier: str = "gelu-mlp", + freeze_weights: bool = True, + **kwargs, + ) -> PrismaticVLM: + """Initialize a PrismaticVLM from a pretrained checkpoint, freezing all weights, tailored for inference.""" + vlm = cls( + model_id, + vision_backbone, + llm_backbone, + enable_mixed_precision_training=enable_mixed_precision_training, + arch_specifier=arch_specifier, + **kwargs, + ) + + # Load from Checkpoint (Custom --> should load both *projector* and *llm* weights) + model_state_dict = torch.load(pretrained_checkpoint, map_location="cpu")["model"] + assert ( + "projector" in model_state_dict and "llm_backbone" in model_state_dict + ), "PrismaticVLM `from_pretrained` expects checkpoint with keys for `projector` AND `llm_backbone`!" + + vlm.projector.load_state_dict(model_state_dict["projector"]) + vlm.llm_backbone.load_state_dict(model_state_dict["llm_backbone"]) + if "vision_backbone" in model_state_dict.keys(): + vlm.vision_backbone.load_state_dict(model_state_dict["vision_backbone"]) + + # Freeze Weights + if freeze_weights: + vlm.requires_grad_(False) + vlm.eval() + + return vlm + + def get_prompt_builder(self, system_prompt: Optional[str] = None) -> PromptBuilder: + prompt_initializer: Type[PromptBuilder] = self.llm_backbone.prompt_builder_fn + return prompt_initializer(self.model_family, system_prompt=system_prompt) + + def freeze_backbones(self, stage: str) -> None: + """ + This function sets `requires_grad_` on each of the component modules explicitly, depending on stage. + + We support two separate stages --> "align" and "finetune". + => "align" --> vision_backbone*, llm_backbone* are frozen; only the `projector` is trained. + => "finetune" --> vision_backbone* is frozen; both `projector` and `llm_backbone` are trained. + + :param stage: Pretraining stage in < "align" | "finetune" | "full-finetune" | "vla-train" | "vla-full-train" > + """ + if stage == "align": + self.vision_backbone.requires_grad_(False) + self.llm_backbone.requires_grad_(False) + self.projector.requires_grad_(True) + + # Add to `self.trainable_module_keys` + self.trainable_module_keys = ["projector"] + + # Update Trackers + self.vision_backbone_requires_grad = False + + # Explicitly Log Frozen / Trainable Components + overwatch.info(f"[Frozen] 🥶 =>> Vision Backbone `{self.vision_backbone.identifier}`", ctx_level=1) + overwatch.info(f"[Frozen] 🥶 =>> LLM Backbone `{self.llm_backbone.identifier}`", ctx_level=1) + overwatch.info(f"[TRAINABLE] 🔥 =>> Projector `{self.arch_specifier}`", ctx_level=1) + + elif stage in {"finetune", "vla-train"}: + self.vision_backbone.requires_grad_(False) + self.llm_backbone.requires_grad_(True) + self.projector.requires_grad_(True) + + # Add to `self.trainable_module_keys` + self.trainable_module_keys = ["projector", "llm_backbone"] + + # Update Trackers + self.vision_backbone_requires_grad = False + + # Explicitly Log Frozen / Unfrozen Components + overwatch.info(f"[Frozen] 🥶 =>> Vision Backbone `{self.vision_backbone.identifier}`", ctx_level=1) + overwatch.info(f"[TRAINABLE] 🔥 =>> LLM Backbone `{self.llm_backbone.identifier}`", ctx_level=1) + overwatch.info(f"[TRAINABLE] 🔥 =>> Projector `{self.arch_specifier}`", ctx_level=1) + + elif stage in {"full-finetune", "vla-full-train"}: + self.vision_backbone.dtype = torch.float32 + self.vision_backbone.requires_grad_(True) + self.llm_backbone.requires_grad_(True) + self.projector.requires_grad_(True) + + # Add to `self.trainable_module_keys` + self.trainable_module_keys = ["vision_backbone", "projector", "llm_backbone"] + + # Update Trackers + self.vision_backbone_requires_grad = True + + # Explicitly Log Frozen / Unfrozen Components + overwatch.info(f"[TRAINABLE] 🔥 =>> Vision Backbone `{self.vision_backbone.identifier}`", ctx_level=1) + overwatch.info(f"[TRAINABLE] 🔥 =>> LLM Backbone `{self.llm_backbone.identifier}`", ctx_level=1) + overwatch.info(f"[TRAINABLE] 🔥 =>> Projector `{self.arch_specifier}`", ctx_level=1) + + elif stage in {"last-layer-finetune", "vla-last-layer-train"}: + self.vision_backbone.requires_grad_(False) + self.projector.requires_grad_(False) + self.llm_backbone.requires_grad_(False) + + # Unfreeze final LLM layer + for module in self.llm_backbone.last_layer_finetune_modules: + module.requires_grad_(True) + + # Add to `self.trainable_module_keys` + self.trainable_module_keys = ["llm_backbone"] + + # Update Trackers + self.vision_backbone_requires_grad = False + + # Explicitly Log Frozen / Unfrozen Components + # fmt: off + overwatch.info(f"[Frozen] 🥶 =>> Vision Backbone `{self.vision_backbone.identifier}`", ctx_level=1) # noqa: E501 + overwatch.info(f"[Frozen, except last layer] 🥶🔥 =>> LLM Backbone `{self.llm_backbone.identifier}`", ctx_level=1) # noqa: E501 + overwatch.info(f"[Frozen] 🥶 =>> Projector `{self.arch_specifier}`", ctx_level=1) + # fmt: on + + elif stage in {"vla-sandwich-train"}: + self.vision_backbone.dtype = torch.float32 + self.vision_backbone.requires_grad_(True) + self.projector.requires_grad_(True) + self.llm_backbone.requires_grad_(False) + + # Unfreeze final LLM layer + for module in self.llm_backbone.last_layer_finetune_modules: + module.requires_grad_(True) + + # Add to `self.trainable_module_keys` + self.trainable_module_keys = ["vision_backbone", "projector", "llm_backbone"] + + # Update Trackers + self.vision_backbone_requires_grad = True + + # Explicitly Log Frozen / Unfrozen Components + # fmt: off + overwatch.info(f"[TRAINABLE] 🔥 =>> Vision Backbone `{self.vision_backbone.identifier}`", ctx_level=1) # noqa: E501 + overwatch.info(f"[Frozen, except last layer] 🥶🔥 =>> LLM Backbone `{self.llm_backbone.identifier}`", ctx_level=1) # noqa: E501 + overwatch.info(f"[TRAINABLE] 🔥 =>> Projector `{self.arch_specifier}`", ctx_level=1) + # fmt: on + + else: + raise ValueError(f"Stage `{stage}` is not supported for LLaVa! Try < align | finetune >") + + overwatch.debug("##################################################") + overwatch.debug("##### Trainable Network Parameters: #####") + overwatch.debug("##################################################") + for name, param in self.named_parameters(): + if param.requires_grad: + overwatch.debug(name) + + def load_from_checkpoint(self, stage: str, run_dir: Path, pretrained_checkpoint: Optional[Path] = None) -> None: + """Load weights from checkpoint (if required by the given stage).""" + assert stage in {"align", "finetune", "full-finetune"}, f"Stage {stage} is not supported!" + + # If we're running a `no-align` architecture, we're good! + if self.arch_specifier.startswith("no-align"): + overwatch.info( + f"PrismaticVLM with `{self.arch_specifier = }` does not require pretrained weights!", ctx_level=1 + ) + return + + # Otherwise, handle stage-specific logic! + if stage == "align": + overwatch.info("Stage `align` does not require pretrained weights =>> Starting Training", ctx_level=1) + return + + # Otherwise, load from `pretrained_checkpoint` or match on `run_dir` (s/+stage-finetune/+stage-align/g) + overwatch.info("Stage `finetune` requires `align` pretrained weights", ctx_level=1) + + # Config specifies path to a checkpoint to load + if pretrained_checkpoint is not None: + overwatch.info(f"Loading from Provided Checkpoint `{pretrained_checkpoint}`", ctx_level=1) + model_state_dict = torch.load(pretrained_checkpoint)["model"] + self.projector.load_state_dict(model_state_dict["projector"]) + + return + + # [Contract] If no `pretrained_checkpoint`, assume `align` lives in the run directory; string substitution! + model, scale, _, seed = run_dir.name.split("+") + align_dirs = [ + d + for d in run_dir.parent.iterdir() + if (d.name.startswith(f"{model}+{scale}") and d.name.endswith(f"+stage-align+{seed}")) + ] + assert len(align_dirs) == 1, "Multiple or No Valid Pretrained Directories Exist -- Double Check `runs`!" + if (pretrained_checkpoint := (align_dirs[0] / "checkpoints" / "latest-checkpoint.pt")).exists(): + overwatch.info(f"Loading from Discovered Checkpoint `{pretrained_checkpoint}`", ctx_level=1) + model_state_dict = torch.load(pretrained_checkpoint)["model"] + self.projector.load_state_dict(model_state_dict["projector"]) + else: + raise ValueError(f"Could not find valid `align` checkpoint at {pretrained_checkpoint}!") + + def get_fsdp_wrapping_policy(self) -> Callable: + """Return an FSDP _or_policy over the policies returned by each individual backbone (and our VLM policy).""" + vision_fsdp_wrapping_policy = self.vision_backbone.get_fsdp_wrapping_policy() + llm_fsdp_wrapping_policy = self.llm_backbone.get_fsdp_wrapping_policy() + + # Get Prismatic Wrapping Policy =>> just a module wrapping policy around `self.projector` + prismatic_fsdp_wrapping_policy = partial( + _module_wrap_policy, + module_classes={LinearProjector, MLPProjector, FusedMLPProjector}, + ) + + # Return union (_or_) over constituent policies + # => Note: there is *not* a fall-through policy; any module that isn't covered by the above constituents will + # automatically be folded into the root VLM FSDP instance. + return partial( + _or_policy, + policies=[ + vision_fsdp_wrapping_policy, + llm_fsdp_wrapping_policy, + prismatic_fsdp_wrapping_policy, + ], + ) + + # Note =>> We're not explicitly subclassing `PreTrainedModel` because we don't need the bloat; however, `forward()` + # *must* match the signature of a `{Model}ForCausalLM` so that we can inherit from `GenerationMixin` + + # ruff: noqa: C901 + def forward( + self, + input_ids: Optional[torch.LongTensor] = None, + attention_mask: Optional[torch.Tensor] = None, + pixel_values: Optional[torch.FloatTensor] = None, + labels: Optional[torch.LongTensor] = None, + inputs_embeds: Optional[torch.FloatTensor] = None, + past_key_values: Optional[List[torch.FloatTensor]] = None, + use_cache: Optional[bool] = None, + output_attentions: Optional[bool] = None, + output_hidden_states: Optional[bool] = None, + return_dict: Optional[bool] = None, + multimodal_indices: Optional[torch.LongTensor] = None, + ) -> CausalLMOutputWithPast: + """Run a forward pass through the VLM, returning a CausalLMOutputWithPast instance (contains loss).""" + + # Handle Inference (leverage cache, short-circuit on just LLM forward) + if input_ids.shape[1] == 1 and past_key_values is not None: + # We're leveraging the cache, so just redirect to `self.llm_backbone` with `input_ids` and `past_key_values` + output = self.llm_backbone( + input_ids=input_ids, + attention_mask=None, + position_ids=None, + past_key_values=past_key_values, + inputs_embeds=None, + labels=None, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + return output + + elif input_ids.shape[1] == 1 or pixel_values is None: + raise RuntimeError("Invalid `forward()` call!") + + # Handle Multimodal Indices is None --> pretend like the batch is fully multimodal (always image + text)! + if multimodal_indices is None: + multimodal_indices = torch.arange(len(input_ids), dtype=torch.long, device=input_ids.device) + + # Handle Multimodal Indices is Empty (len == 0) --> simple unimodal forward + elif len(multimodal_indices) == 0: + return self.llm_backbone( + input_ids=input_ids, + attention_mask=attention_mask, + position_ids=None, + past_key_values=past_key_values, + inputs_embeds=None, + labels=labels, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + + # Run Visual Feature Extraction + with torch.set_grad_enabled(self.vision_backbone_requires_grad): + if isinstance(pixel_values, dict): + patch_features = self.vision_backbone({k: pixel_values[k][multimodal_indices] for k in pixel_values}) + else: + patch_features = self.vision_backbone(pixel_values[multimodal_indices]) + + # Projection Logic :: [bsz, num_patches, llm_embed_dim] =>> num_patches = (2 *) (256 + 1) for ViT-L + CLS + projected_patch_embeddings = self.projector(patch_features) + projected_patch_attention_mask = None + if attention_mask is not None: + projected_patch_attention_mask = torch.full( + (projected_patch_embeddings.shape[0], projected_patch_embeddings.shape[1]), + True, + dtype=attention_mask.dtype, + device=attention_mask.device, + ) + + # Get Input Embeddings from LLM Backbone :: [bsz, input_seq_len, llm_embed_dim] + input_embeddings = self.llm_backbone.embed_input_ids(input_ids) + + # Build Multimodal Embeddings (and build resulting attention mask) + multimodal_embeddings = torch.cat( + [ + input_embeddings[multimodal_indices, :1, :], + projected_patch_embeddings, + input_embeddings[multimodal_indices, 1:, :], + ], + dim=1, + ) + multimodal_attention_mask = None + if attention_mask is not None: + multimodal_attention_mask = torch.cat( + [ + attention_mask[multimodal_indices, :1], + projected_patch_attention_mask, + attention_mask[multimodal_indices, 1:], + ], + dim=1, + ) + + # [Contract] We assume the first token of `labels` (associated with ) is already marked as "IGNORE" + # => We'll ignore the per-token outputs for each of the patch embeddings as well! + multimodal_labels = None + if labels is not None: + projected_patch_labels = torch.full( + (projected_patch_embeddings.shape[0], projected_patch_embeddings.shape[1]), + IGNORE_INDEX, + dtype=labels.dtype, + device=labels.device, + ) + multimodal_labels = torch.cat( + [labels[multimodal_indices, :1], projected_patch_labels, labels[multimodal_indices, 1:]], dim=1 + ) + + # === Add Unimodal Handling === + + # Create Fused Embeddings, Attention Mask, and Labels by Merging with "unimodal" Inputs (if applicable) + unimodal_indices = torch.tensor( + [idx for idx in range(len(input_ids)) if idx not in multimodal_indices], + dtype=torch.long, + device=multimodal_indices.device, + ) + + # No "unimodal" data --> Fused == Multimodal + if len(unimodal_indices) == 0: + fused_embeddings = multimodal_embeddings + fused_attention_mask = multimodal_attention_mask + fused_labels = multimodal_labels + + else: + # Otherwise --> Merge w/ unimodal data + + # This doesn't matter --> but in the "normal" case this is the embedding of the token + # => NOTE :: Verified that `zeros/randn/empty/ embedding` all return the same result! + unimodal_embeddings_pad = torch.zeros( + (len(unimodal_indices), projected_patch_embeddings.shape[1], input_embeddings.shape[2]), + dtype=input_embeddings.dtype, + device=input_embeddings.device, + ) + unimodal_attention_pad = torch.full( + (len(unimodal_indices), projected_patch_embeddings.shape[1]), + False, + dtype=attention_mask.dtype, + device=attention_mask.device, + ) + unimodal_labels_pad = torch.full( + (len(unimodal_indices), projected_patch_embeddings.shape[1]), + IGNORE_INDEX, + dtype=labels.dtype, + device=labels.device, + ) + + unimodal_embeddings = torch.cat([input_embeddings[unimodal_indices], unimodal_embeddings_pad], dim=1) + unimodal_attention_mask = torch.cat([attention_mask[unimodal_indices], unimodal_attention_pad], dim=1) + unimodal_labels = torch.cat([labels[unimodal_indices], unimodal_labels_pad], dim=1) + + # Create "Fused" Tensors by Stacking Multimodal & Unimodal + fused_embeddings = torch.vstack([multimodal_embeddings, unimodal_embeddings]) + fused_attention_mask = torch.vstack([multimodal_attention_mask, unimodal_attention_mask]) + fused_labels = torch.vstack([multimodal_labels, unimodal_labels]) + + # Run LLM Forward --> returns CausalLMOutputWithPast! + return self.llm_backbone( + input_ids=None, + attention_mask=fused_attention_mask, + position_ids=None, + past_key_values=past_key_values, + inputs_embeds=fused_embeddings, + labels=fused_labels, + use_cache=use_cache, + output_attentions=output_attentions, + output_hidden_states=output_hidden_states, + return_dict=return_dict, + ) + + # === GenerationMixin Methods === + # => Note: The following methods override the functionality of `transformers.GenerationMixin`; these expect the + # contract in each of the function signatures, and also expect our `forward` function to roughly take + # the same arguments as the underlying LLM (see `LlamaModelForCausalLM` as an example) + + def prepare_inputs_for_generation( + self, + input_ids: Optional[torch.LongTensor] = None, + attention_mask: Optional[torch.Tensor] = None, + pixel_values: Optional[torch.FloatTensor] = None, + inputs_embeds: Optional[torch.FloatTensor] = None, + past_key_values: Optional[List[torch.FloatTensor]] = None, + use_cache: Optional[bool] = None, + **kwargs: torch.Tensor, + ) -> Dict[str, torch.Tensor]: + """Borrowed from `LlamaForCausalLM` --> in general, just handles caching logic during generation.""" + if past_key_values: + input_ids = input_ids[:, -1:] + + # if `inputs_embeds` are passed, we only want to use them in the 1st generation step + if inputs_embeds is not None and past_key_values is None: + model_inputs = {"inputs_embeds": inputs_embeds} + else: + model_inputs = {"input_ids": input_ids} + + # Make sure `pixel_values` are preserved in `model_inputs` + model_inputs.update( + { + "attention_mask": attention_mask, + "pixel_values": pixel_values, + "past_key_values": past_key_values, + "use_cache": use_cache, + } + ) + + return model_inputs + + @torch.inference_mode() + def generate_batch( + self, + pixel_values: Union[torch.Tensor, Dict[str, torch.Tensor]], + texts: List[str], + return_string_probabilities: Optional[List[str]] = None, + **kwargs: str, + ) -> Union[List[str], List[List[float]]]: + # For now, only support generation with a batch size of 1 for simplicity + tokenizer = self.llm_backbone.tokenizer + + # Prepare Inputs + batch_input_ids = [ + tokenizer(text, truncation=True, return_tensors="pt").input_ids.to(self.device) for text in texts + ] + if isinstance(pixel_values, torch.Tensor): + pixel_values = pixel_values[None, ...].to(self.device) + elif isinstance(pixel_values, dict): + pixel_values = {k: v[None, ...].to(self.device) for k, v in pixel_values.items()} + else: + raise ValueError(f"Unsupported `pixel_values` type = {type(pixel_values)}") + + # Create Output Lists + gen_texts, gen_probabilities = [], [] + + # Invoke super().generate --> taps into `GenerationMixin` which (redirects) to `forward()` + autocast_dtype = self.llm_backbone.half_precision_dtype + with torch.autocast("cuda", dtype=autocast_dtype, enabled=self.enable_mixed_precision_training): + for idx, input_ids in enumerate(batch_input_ids): + if isinstance(pixel_values, torch.Tensor): + pixel_values = pixel_values[idx] + elif isinstance(pixel_values, dict): + pixel_values = {k: pixel_values[k][idx] for k in pixel_values} + else: + raise ValueError(f"Unsupported `pixel_values` type = {type(pixel_values)}") + + # Handle `return_string_probabilities` + if return_string_probabilities is None: + full_out_ids = super().generate(input_ids=input_ids, pixel_values=pixel_values, **kwargs) + gen_ids = full_out_ids[0, input_ids.shape[1] :] + + # Decode `gen_ids` and strip any tokens + gen_texts.append(tokenizer.decode(gen_ids, skip_special_tokens=True).strip()) + + else: + full_out_dict = super().generate( + input_ids=input_ids, + pixel_values=pixel_values, + output_scores=True, + return_dict_in_generate=True, + **kwargs, + ) + + # Generation pattern should usually be [TOKEN] for True/False and Yes/No Generations + gen_ids = full_out_dict.sequences[0, input_ids.shape[1] :] + + # [Debug] Verify that the first token generated is in `self.string2idx.values()` + # assert gen_ids[0] in self.string2idx.values(), "Generated ID not in mapping!" + + # Decode `gen_ids` and strip any tokens + gen_texts.append(tokenizer.decode(gen_ids, skip_special_tokens=True).strip()) + + # Get all token probabilities --> softmax over logits + token_probs = torch.softmax(full_out_dict.scores[0][0], dim=0) + + # Get *normalized* probabilities for all values in `return_token_probabilities` + slice_idxs = torch.tensor([self.string2idx[s] for s in return_string_probabilities]) + string_probs_unnormalized = token_probs[slice_idxs] + string_probs = string_probs_unnormalized / string_probs_unnormalized.sum() + gen_probabilities.append(string_probs.cpu().numpy().tolist()) + + return gen_texts if return_string_probabilities is None else gen_probabilities + + @torch.inference_mode() + def generate(self, image: Image, prompt_text: str, **kwargs: str) -> str: + # For now, only support generation with a batch size of 1 for simplicity + image_transform, tokenizer = self.vision_backbone.image_transform, self.llm_backbone.tokenizer + + # Prepare Inputs + input_ids = tokenizer(prompt_text, truncation=True, return_tensors="pt").input_ids.to(self.device) + pixel_values = image_transform(image) + if isinstance(pixel_values, torch.Tensor): + pixel_values = pixel_values[None, ...].to(self.device) + elif isinstance(pixel_values, dict): + pixel_values = {k: v[None, ...].to(self.device) for k, v in pixel_values.items()} + else: + raise ValueError(f"Unsupported `pixel_values` type = {type(pixel_values)}") + + # Invoke super().generate --> taps into `GenerationMixin` which (redirects) to `forward()` + autocast_dtype = self.llm_backbone.half_precision_dtype + with torch.autocast("cuda", dtype=autocast_dtype, enabled=self.enable_mixed_precision_training): + # fmt: off + generated_ids = super().generate( + input_ids=input_ids, # Shape: [1, seq] + pixel_values=pixel_values, # Shape: [1, 3, res, res] or Dict[str, Shape[1, 3, res, res]] + **kwargs + ) + # fmt: on + + generated_text = tokenizer.decode(generated_ids[0, input_ids.shape[1] :], skip_special_tokens=True).strip() + + return generated_text diff --git a/VLA-Adapter-UAV/prismatic/overwatch/__init__.py b/VLA-Adapter-UAV/prismatic/overwatch/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..6897a047fc2741f7e434bcdaa78f6a14c473fec9 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/overwatch/__init__.py @@ -0,0 +1 @@ +from .overwatch import initialize_overwatch diff --git a/VLA-Adapter-UAV/prismatic/overwatch/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/overwatch/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..674d2d1762382090da9f4e1a9dea3fb36ed76bf2 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/overwatch/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/overwatch/__pycache__/overwatch.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/overwatch/__pycache__/overwatch.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..f73a51938a6d9538a07731cf934d358d9fe3736f Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/overwatch/__pycache__/overwatch.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/overwatch/overwatch.py b/VLA-Adapter-UAV/prismatic/overwatch/overwatch.py new file mode 100644 index 0000000000000000000000000000000000000000..f7c40e65a695cc9287e1bcb6fef062904df5aace --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/overwatch/overwatch.py @@ -0,0 +1,147 @@ +""" +overwatch.py + +Utility class for creating a centralized/standardized logger (built on Rich) and accelerate handler. +""" + +import logging +import logging.config +import os +from contextlib import nullcontext +from logging import LoggerAdapter +from typing import Any, Callable, ClassVar, Dict, MutableMapping, Tuple, Union + +# Overwatch Default Format String +RICH_FORMATTER, DATEFMT = "| >> %(message)s", "%m/%d [%H:%M:%S]" + +# Set Logging Configuration +LOG_CONFIG = { + "version": 1, + "disable_existing_loggers": True, + "formatters": {"simple-console": {"format": RICH_FORMATTER, "datefmt": DATEFMT}}, + "handlers": { + "console": { + "class": "rich.logging.RichHandler", + "formatter": "simple-console", + "markup": True, + "rich_tracebacks": True, + "show_level": True, + "show_path": True, + "show_time": True, + } + }, + "root": {"level": "INFO", "handlers": ["console"]}, +} +logging.config.dictConfig(LOG_CONFIG) + + +# === Custom Contextual Logging Logic === +class ContextAdapter(LoggerAdapter): + CTX_PREFIXES: ClassVar[Dict[int, str]] = {**{0: "[*] "}, **{idx: "|=> ".rjust(4 + (idx * 4)) for idx in [1, 2, 3]}} + + def process(self, msg: str, kwargs: MutableMapping[str, Any]) -> Tuple[str, MutableMapping[str, Any]]: + ctx_level = kwargs.pop("ctx_level", 0) + return f"{self.CTX_PREFIXES[ctx_level]}{msg}", kwargs + + +class DistributedOverwatch: + def __init__(self, name: str) -> None: + """Initializer for an Overwatch object that wraps logging & `accelerate.PartialState`.""" + from accelerate import PartialState + + # Note that PartialState is always safe to initialize regardless of `accelerate launch` or `torchrun` + # =>> However, might be worth actually figuring out if we need the `accelerate` dependency at all! + self.logger, self.distributed_state = ContextAdapter(logging.getLogger(name), extra={}), PartialState() + + # Logger Delegation (for convenience; would be nice to just compose & dynamic dispatch eventually) + self.debug = self.logger.debug + self.info = self.logger.info + self.warning = self.logger.warning + self.error = self.logger.error + self.critical = self.logger.critical + + # Logging Defaults =>> only Log `INFO` on Main Process, `ERROR` on others! + self.logger.setLevel(logging.INFO if self.distributed_state.is_main_process else logging.ERROR) + + @property + def rank_zero_only(self) -> Callable[..., Any]: + return self.distributed_state.on_main_process + + @property + def local_zero_only(self) -> Callable[..., Any]: + return self.distributed_state.on_local_main_process + + @property + def rank_zero_first(self) -> Callable[..., Any]: + return self.distributed_state.main_process_first + + @property + def local_zero_first(self) -> Callable[..., Any]: + return self.distributed_state.local_main_process_first + + def is_rank_zero(self) -> bool: + return self.distributed_state.is_main_process + + def rank(self) -> int: + return self.distributed_state.process_index + + def local_rank(self) -> int: + return self.distributed_state.local_process_index + + def world_size(self) -> int: + return self.distributed_state.num_processes + + +class PureOverwatch: + def __init__(self, name: str) -> None: + """Initializer for an Overwatch object that just wraps logging.""" + self.logger = ContextAdapter(logging.getLogger(name), extra={}) + + # Logger Delegation (for convenience; would be nice to just compose & dynamic dispatch eventually) + self.debug = self.logger.debug + self.info = self.logger.info + self.warning = self.logger.warning + self.error = self.logger.error + self.critical = self.logger.critical + + # Logging Defaults =>> INFO + self.logger.setLevel(logging.INFO) + + @staticmethod + def get_identity_ctx() -> Callable[..., Any]: + def identity(fn: Callable[..., Any]) -> Callable[..., Any]: + return fn + + return identity + + @property + def rank_zero_only(self) -> Callable[..., Any]: + return self.get_identity_ctx() + + @property + def local_zero_only(self) -> Callable[..., Any]: + return self.get_identity_ctx() + + @property + def rank_zero_first(self) -> Callable[..., Any]: + return nullcontext + + @property + def local_zero_first(self) -> Callable[..., Any]: + return nullcontext + + @staticmethod + def is_rank_zero() -> bool: + return True + + @staticmethod + def rank() -> int: + return 0 + + @staticmethod + def world_size() -> int: + return 1 + + +def initialize_overwatch(name: str) -> Union[DistributedOverwatch, PureOverwatch]: + return DistributedOverwatch(name) if int(os.environ.get("WORLD_SIZE", -1)) != -1 else PureOverwatch(name) diff --git a/VLA-Adapter-UAV/prismatic/preprocessing/__init__.py b/VLA-Adapter-UAV/prismatic/preprocessing/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..b62598ef246df852419c118a3dc40a6ebddf4bd6 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/preprocessing/__init__.py @@ -0,0 +1,2 @@ +from .download import convert_to_jpg, download_extract +from .materialize import get_dataset_and_collator diff --git a/VLA-Adapter-UAV/prismatic/preprocessing/datasets/__init__.py b/VLA-Adapter-UAV/prismatic/preprocessing/datasets/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..9a642948d2d042def8edd1848053ec7846fd0009 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/preprocessing/datasets/__init__.py @@ -0,0 +1 @@ +from .datasets import AlignDataset, FinetuneDataset diff --git a/VLA-Adapter-UAV/prismatic/preprocessing/datasets/datasets.py b/VLA-Adapter-UAV/prismatic/preprocessing/datasets/datasets.py new file mode 100644 index 0000000000000000000000000000000000000000..14fe375fdf8adf9ea1071591fad4f59dfb678110 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/preprocessing/datasets/datasets.py @@ -0,0 +1,205 @@ +""" +datasets.py + +PyTorch Dataset Definitions for Prismatic models; supports processing for both the `align` and `finetune` stages, with +utilities for formatting conversations during the `finetune` stage subject to the given LLM backbone's expected +formatting (e.g., SYS_PROMPT + USER: ... ASSISTANT: ... for Vicuña v1.5 Chat models). + +We currently only support Map-style Datasets; assumes that all files (annotations, images) are on local disk, and that +random access image reading is relatively cheap/fast. +""" + +import copy +import json +from pathlib import Path +from typing import Dict, List, Tuple, Type + +import torch +from PIL import Image +from torch.utils.data import Dataset +from transformers import CodeGenTokenizerFast, LlamaTokenizerFast, PreTrainedTokenizerBase +from transformers.models.qwen2.tokenization_qwen2_fast import Qwen2TokenizerFast + +from prismatic.models.backbones.llm.prompting import PromptBuilder +from prismatic.models.backbones.vision import ImageTransform + +# HuggingFace Default / LLaMa-2 IGNORE_INDEX (for labels) +IGNORE_INDEX = -100 + + +class AlignDataset(Dataset[Dict[str, torch.Tensor]]): + def __init__( + self, + chat_json: Path, + image_dir: Path, + image_transform: ImageTransform, + tokenizer: PreTrainedTokenizerBase, + ) -> None: + super().__init__() + self.chat_json, self.image_dir = chat_json, image_dir + self.image_transform, self.tokenizer = image_transform, tokenizer + self.dataset_type = "align" + + # Create Prompt Template + self.prompt_template = "{caption}" + self.tokenizer.eos_token + + # Load Chat JSON + with open(self.chat_json, "r") as f: + self.examples = json.load(f) + + def __getitem__(self, idx: int) -> Dict[str, torch.Tensor]: + """ + Following the *actual* code executed from the LLaVa codebase, during the "align" phase, we actually discard + the "prompt" from the human, and instead directly predict the caption from the image. + + As a concrete example given the "raw data" for the first example: + example = self.examples[0]["conversations"]` = { + [ + {"from": "human", "value": "Render a clear and concise summary of the photo.\n"}, + {"from": "gpt", "value": "select luxury furniture 3 - inch gel memory foam mattress topper"} + ] + } + + Return =>> self.tokenizer(" select luxury furniture 3 - inch gel memory foam mattress topper\n") + + :param idx: Index to retrieve from the dataset. + + :return: Dictionary of {"pixel_values": torch.Tensor, "input_ids": torch.Tensor, "labels": torch.Tensor} + """ + image_path, conversation = Path(self.examples[idx]["image"]), self.examples[idx]["conversations"] + assert (len(conversation) == 2) and ("" not in conversation[-1]["value"]), "Unexpected text!" + + # Format Caption --> {caption}{eos_token} + caption = self.prompt_template.format(caption=conversation[-1]["value"].strip()) + + # We treat image patches as "tokens = [p1 p2 p3, ...]"; we need to specify ordering of text/patch tokens. + # => Critically, we find that inserting *after* the BOS token leads to the strongest performance! + # - input_ids = " p1 p2 p3 ... \n" + # - labels = "IGNORE IGNORE ..." (copy `input_ids` replacing and p{1...K} with IGNORE) + # + # IMPORTANT => IF WE'RE USING HF LLM.forward(... labels=labels), SHIFTING HAPPENS _INSIDE_ MODEL! + input_ids = self.tokenizer(caption, truncation=True, return_tensors="pt").input_ids[0] + labels = copy.deepcopy(input_ids) + + # Set the token's label to IGNORE_INDEX (since we're inserting the image patches right after) + labels[0] = IGNORE_INDEX + + # Process Image --> get "pixel_values" (will either be a torch.Tensor OR a Dict[str,torch.Tensor]) + pixel_values = self.image_transform(Image.open(self.image_dir / image_path).convert("RGB")) + + return dict(pixel_values=pixel_values, input_ids=input_ids, labels=labels) + + def get_modality_lengths(self, n_image_patches: int) -> List[Tuple[bool, int]]: + """Get a list of modalities (unimodal / text-only vs. multimodal) and length of conversations per example.""" + modality_lengths = [] + for example in self.examples: + is_multimodal = "image" in example + n_words = sum([len(turn["value"].replace("", "").split()) for turn in example["conversations"]]) + modality_lengths.append((is_multimodal, (n_image_patches + n_words) if is_multimodal else n_words)) + return modality_lengths + + def __len__(self) -> int: + return len(self.examples) + + +class FinetuneDataset(Dataset[Dict[str, torch.Tensor]]): + def __init__( + self, + instruct_json: Path, + image_dir: Path, + image_transform: ImageTransform, + tokenizer: PreTrainedTokenizerBase, + prompt_builder_fn: Type[PromptBuilder], + ) -> None: + super().__init__() + self.instruct_json, self.image_dir = instruct_json, image_dir + self.image_transform, self.tokenizer = image_transform, tokenizer + self.prompt_builder_fn = prompt_builder_fn + self.dataset_type = "finetune" + + # Load Instruct JSON + with open(self.instruct_json, "r") as f: + self.examples = json.load(f) + + # === Unimodal + Multimodal Handling === + def __getitem__(self, idx: int) -> Dict[str, torch.Tensor]: + """ + Unlike the *align* stage handling, for the *finetune* stage, we actually need to handle multiple "turns" of + dialog grounded in a single image. + + To do this, we leverage the `prompt_builder_fn` which instantiates a PromptBuilder object. By calling the + methods for adding turns and getting a prompt, we ensure proper formatting and consistency for each example. + + :param idx: Index to retrieve from the dataset. + + :return: Dictionary of {"pixel_values": torch.Tensor, "input_ids": torch.Tensor, "labels": torch.Tensor} + """ + conversation = self.examples[idx]["conversations"] + + # Create Prompt Builder --> add each message sequentially + prompt_builder, input_ids, labels = self.prompt_builder_fn(model_family="prismatic"), [], [] + for turn_idx, turn in enumerate(conversation): + # Get "effective" string added to prompt --> handle whitespace for tokenizer type! + msg = prompt_builder.add_turn(turn["from"], turn["value"]) + + # Llama Tokenizer (Fast) adds extra character if a string ends in whitespace --> strip if non-empty! + if isinstance(self.tokenizer, LlamaTokenizerFast): + msg = msg.rstrip() + + # Phi-2 Tokenizer == CodeGenTokenizer (Fast) -- no special handling! + elif isinstance(self.tokenizer, CodeGenTokenizerFast): + pass + + # Qwen2 Tokenizer -- agent turn requires EOS if its the last turn! + elif isinstance(self.tokenizer, Qwen2TokenizerFast): + if turn["from"] == "gpt" and turn_idx == len(conversation) - 1: + msg += prompt_builder.eos + else: + raise ValueError(f"Tokenizer of type `{type(self.tokenizer)}` is not explicitly handled!") + + # Tokenize Input IDs + turn_input_ids = self.tokenizer(msg, add_special_tokens=turn_idx == 0).input_ids + + # [CRITICAL] We do not want to take the loss for the "USER: " prompts =>> just the responses! + turn_labels = ( + [IGNORE_INDEX for _ in range(len(turn_input_ids))] if (turn_idx % 2) == 0 else list(turn_input_ids) + ) + + # Add to Trackers + input_ids.extend(turn_input_ids) + labels.extend(turn_labels) + + # Tensorize =>> Set the token's label to IGNORE_INDEX (since we're inserting the image patches after) + # - IMPORTANT => IF WE'RE USING HF LLM.forward(... labels=labels), SHIFTING HAPPENS _INSIDE_ MODEL! + input_ids, labels = torch.tensor(input_ids), torch.tensor(labels) + + # Handle Truncation (if necessary) + input_ids, labels = input_ids[: self.tokenizer.model_max_length], labels[: self.tokenizer.model_max_length] + + # === Handle "unimodal" (language-only) vs. "multimodal" === + if "image" in self.examples[idx]: + image_path = Path(self.examples[idx]["image"]) + + # Set the token's label to IGNORE_INDEX (since we're inserting the image patches right after) + labels[0] = IGNORE_INDEX + + # Process Image --> get "pixel_values" (will either be a torch.Tensor OR a Dict[str,torch.Tensor]) + pixel_values = self.image_transform(Image.open(self.image_dir / image_path).convert("RGB")) + + return dict(pixel_values=pixel_values, input_ids=input_ids, labels=labels) + + else: + # No image --> return `pixel_values` = None; Collator will do the smart batch handling for us! + return dict(pixel_values=None, input_ids=input_ids, labels=labels) + + def get_modality_lengths(self) -> List[Tuple[bool, int]]: + """Get a list of modalities (unimodal / text-only vs. multimodal) and length of conversations per example.""" + modality_lengths = [] + for example in self.examples: + is_multimodal = "image" in example + n_words = sum([len(turn["value"].split()) for turn in example["conversations"]]) + modality_lengths.append((is_multimodal, n_words)) + return modality_lengths + + def __len__(self) -> int: + return len(self.examples) \ No newline at end of file diff --git a/VLA-Adapter-UAV/prismatic/preprocessing/download.py b/VLA-Adapter-UAV/prismatic/preprocessing/download.py new file mode 100644 index 0000000000000000000000000000000000000000..cff294489e8465471be3da3a07bb4000bf4b7a63 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/preprocessing/download.py @@ -0,0 +1,207 @@ +""" +download.py + +Utility functions for downloading and extracting various datasets to (local) disk. +""" + +import os +import shutil +from pathlib import Path +from typing import Dict, List, TypedDict +from zipfile import ZipFile + +import requests +from PIL import Image +from rich.progress import BarColumn, DownloadColumn, MofNCompleteColumn, Progress, TextColumn, TransferSpeedColumn +from tqdm import tqdm + +from prismatic.overwatch import initialize_overwatch + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +# === Dataset Registry w/ Links === +# fmt: off +DatasetComponent = TypedDict( + "DatasetComponent", + {"name": str, "extract": bool, "extract_type": str, "url": str, "do_rename": bool}, + total=False +) + +DATASET_REGISTRY: Dict[str, List[DatasetComponent]] = { + # === LLaVa v1.5 Dataset(s) === + + # Note =>> This is the full suite of datasets included in the LLaVa 1.5 "finetuning" stage; all the LLaVa v1.5 + # models are finetuned on this split. We use this dataset for all experiments in our paper. + "llava-laion-cc-sbu-558k": [ + { + "name": "chat.json", # Contains the "chat" traces :: {"human" => , "gpt" => } + "extract": False, + "url": "https://huggingface.co/datasets/liuhaotian/LLaVA-Pretrain/resolve/main/blip_laion_cc_sbu_558k.json", + "do_rename": True, + }, + { + "name": "images", # Contains the LLaVa Processed Images (jpgs, 224x224 resolution) + "extract": True, + "extract_type": "directory", + "url": "https://huggingface.co/datasets/liuhaotian/LLaVA-Pretrain/resolve/main/images.zip", + "do_rename": False, + } + ], + + "llava-v1.5-instruct": [ + { + "name": "llava_v1_5_mix665k.json", + "extract": False, + "url": ( + "https://huggingface.co/datasets/liuhaotian/LLaVA-Instruct-150K/resolve/main/llava_v1_5_mix665k.json" + ), + "do_rename": True, + }, + { + "name": "coco/train2017", # Visual Instruct Tuning images are all sourced from COCO Train 2017 + "extract": True, + "extract_type": "directory", + "url": "http://images.cocodataset.org/zips/train2017.zip", + "do_rename": True, + }, + { + "name": "gqa/images", + "extract": True, + "extract_type": "directory", + "url": "https://downloads.cs.stanford.edu/nlp/data/gqa/images.zip", + "do_rename": True, + }, + { + "name": "ocr_vqa/images", + "extract": True, + "extract_type": "directory", + "url": "https://huggingface.co/datasets/qnguyen3/ocr_vqa/resolve/main/ocr_vqa.zip", + "do_rename": True, + }, + { + "name": "textvqa/train_images", + "extract": True, + "extract_type": "directory", + "url": "https://dl.fbaipublicfiles.com/textvqa/images/train_val_images.zip", + "do_rename": True, + }, + { + "name": "vg/VG_100K", + "extract": True, + "extract_type": "directory", + "url": "https://cs.stanford.edu/people/rak248/VG_100K_2/images.zip", + "do_rename": True, + }, + { + "name": "vg/VG_100K_2", + "extract": True, + "extract_type": "directory", + "url": "https://cs.stanford.edu/people/rak248/VG_100K_2/images2.zip", + "do_rename": True, + }, + ] +} +# fmt: on + + +def convert_to_jpg(image_dir: Path) -> None: + """Handling for OCR-VQA Images specifically; iterates through directory, converts all GIFs/PNGs.""" + overwatch.info(f"Converting all Images in `{image_dir}` to JPG") + + for image_fn in tqdm(list(image_dir.iterdir())): + if image_fn.suffix in {".jpg", ".jpeg"} or (jpg_fn := image_dir / f"{image_fn.stem}.jpg").exists(): + continue + + if image_fn.suffix == ".gif": + gif = Image.open(image_fn) + gif.seek(0) + gif.convert("RGB").save(jpg_fn) + elif image_fn.suffix == ".png": + Image.open(image_fn).convert("RGB").save(jpg_fn) + else: + raise ValueError(f"Unexpected image format `{image_fn.suffix}`") + + +def download_with_progress(url: str, download_dir: Path, chunk_size_bytes: int = 1024) -> Path: + """Utility function for downloading files from the internet, with a handy Rich-based progress bar.""" + overwatch.info(f"Downloading {(dest_path := download_dir / Path(url).name)} from `{url}`", ctx_level=1) + if dest_path.exists(): + return dest_path + + # Otherwise --> fire an HTTP Request, with `stream = True` + response = requests.get(url, stream=True) + + # Download w/ Transfer-Aware Progress + # => Reference: https://github.com/Textualize/rich/blob/master/examples/downloader.py + with Progress( + TextColumn("[bold]{task.description} - {task.fields[fname]}"), + BarColumn(bar_width=None), + "[progress.percentage]{task.percentage:>3.1f}%", + "•", + DownloadColumn(), + "•", + TransferSpeedColumn(), + transient=True, + ) as dl_progress: + dl_tid = dl_progress.add_task( + "Downloading", fname=dest_path.name, total=int(response.headers.get("content-length", "None")) + ) + with open(dest_path, "wb") as f: + for data in response.iter_content(chunk_size=chunk_size_bytes): + dl_progress.advance(dl_tid, f.write(data)) + + return dest_path + + +def extract_with_progress(archive_path: Path, download_dir: Path, extract_type: str, cleanup: bool = False) -> Path: + """Utility function for extracting compressed archives, with a handy Rich-based progress bar.""" + assert archive_path.suffix == ".zip", "Only `.zip` compressed archives are supported for now!" + overwatch.info(f"Extracting {archive_path.name} to `{download_dir}`", ctx_level=1) + + # Extract w/ Progress + with Progress( + TextColumn("[bold]{task.description} - {task.fields[aname]}"), + BarColumn(bar_width=None), + "[progress.percentage]{task.percentage:>3.1f}%", + "•", + MofNCompleteColumn(), + transient=True, + ) as ext_progress: + with ZipFile(archive_path) as zf: + ext_tid = ext_progress.add_task("Extracting", aname=archive_path.name, total=len(members := zf.infolist())) + extract_path = Path(zf.extract(members[0], download_dir)) + if extract_type == "file": + assert len(members) == 1, f"Archive `{archive_path}` with extract type `{extract_type} has > 1 member!" + elif extract_type == "directory": + for member in members[1:]: + zf.extract(member, download_dir) + ext_progress.advance(ext_tid) + else: + raise ValueError(f"Extract type `{extract_type}` for archive `{archive_path}` is not defined!") + + # Cleanup (if specified) + if cleanup: + archive_path.unlink() + + return extract_path + + +def download_extract(dataset_id: str, root_dir: Path) -> None: + """Download all files for a given dataset (querying registry above), extracting archives if necessary.""" + os.makedirs(download_dir := root_dir / "download" / dataset_id, exist_ok=True) + + # Download Files => Single-Threaded, with Progress Bar + dl_tasks = [d for d in DATASET_REGISTRY[dataset_id] if not (download_dir / d["name"]).exists()] + for dl_task in dl_tasks: + dl_path = download_with_progress(dl_task["url"], download_dir) + + # Extract Files (if specified) --> Note (assumes ".zip" ONLY!) + if dl_task["extract"]: + dl_path = extract_with_progress(dl_path, download_dir, dl_task["extract_type"]) + dl_path = dl_path.parent if dl_path.is_file() else dl_path + + # Rename Path --> dl_task["name"] + if dl_task["do_rename"]: + shutil.move(dl_path, download_dir / dl_task["name"]) diff --git a/VLA-Adapter-UAV/prismatic/preprocessing/materialize.py b/VLA-Adapter-UAV/prismatic/preprocessing/materialize.py new file mode 100644 index 0000000000000000000000000000000000000000..b84b0d5c1cbf0650efbac20e3700a8ab3d372091 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/preprocessing/materialize.py @@ -0,0 +1,69 @@ +""" +materialize.py + +Factory class for initializing pretraining datasets on a per-VLM basis; provides and exports individual functions for +clear control flow. +""" + +from typing import Tuple, Type + +from torch.utils.data import Dataset +from transformers import PreTrainedTokenizerBase + +from prismatic.conf import DatasetConfig +from prismatic.models.backbones.llm.prompting import PromptBuilder +from prismatic.models.backbones.vision import ImageTransform +from prismatic.preprocessing.datasets import AlignDataset, FinetuneDataset +from prismatic.util.data_utils import PaddedCollatorForLanguageModeling + +# Dataset Initializers =>> Maps Stage --> cls() +DATASET_INITIALIZER = {"align": AlignDataset, "finetune": FinetuneDataset, "full-finetune": FinetuneDataset} + + +def get_dataset_and_collator( + stage: str, + dataset_cfg: DatasetConfig, + image_transform: ImageTransform, + tokenizer: PreTrainedTokenizerBase, + prompt_builder_fn: Type[PromptBuilder], + default_image_resolution: Tuple[int, int, int], + padding_side: str = "right", +) -> Tuple[Dataset, PaddedCollatorForLanguageModeling]: + dataset_cls = DATASET_INITIALIZER[stage] + dataset_root_dir = dataset_cfg.dataset_root_dir + collator = PaddedCollatorForLanguageModeling( + tokenizer.model_max_length, tokenizer.pad_token_id, default_image_resolution, padding_side=padding_side + ) + + # Switch on `stage` + if stage == "align": + annotation_json, image_dir = dataset_cfg.align_stage_components + dataset = dataset_cls( + dataset_root_dir / annotation_json, dataset_root_dir / image_dir, image_transform, tokenizer + ) + return dataset, collator + + elif stage == "finetune": + annotation_json, image_dir = dataset_cfg.finetune_stage_components + dataset = dataset_cls( + dataset_root_dir / annotation_json, + dataset_root_dir / image_dir, + image_transform, + tokenizer, + prompt_builder_fn=prompt_builder_fn, + ) + return dataset, collator + + elif stage == "full-finetune": + annotation_json, image_dir = dataset_cfg.finetune_stage_components + dataset = dataset_cls( + dataset_root_dir / annotation_json, + dataset_root_dir / image_dir, + image_transform, + tokenizer, + prompt_builder_fn=prompt_builder_fn, + ) + return dataset, collator + + else: + raise ValueError(f"Stage `{stage}` is not supported!") diff --git a/VLA-Adapter-UAV/prismatic/py.typed b/VLA-Adapter-UAV/prismatic/py.typed new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/VLA-Adapter-UAV/prismatic/training/__init__.py b/VLA-Adapter-UAV/prismatic/training/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..58c7f8c8bf8ef7e9c8507eae82d30055e04fae25 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/training/__init__.py @@ -0,0 +1,2 @@ +from .materialize import get_train_strategy +from .metrics import Metrics, VLAMetrics diff --git a/VLA-Adapter-UAV/prismatic/training/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/training/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..0dd2839fd457e327ed6ee34489ffb6b7ee53da6b Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/training/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/training/__pycache__/materialize.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/training/__pycache__/materialize.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..688bfa1ca1386643f3fe460af6840f34eee3083c Binary files /dev/null and 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0000000000000000000000000000000000000000..4e9f364dbd7d4b908fe21ba3381ae2305b053f83 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/training/materialize.py @@ -0,0 +1,66 @@ +""" +materialize.py + +Factory class defining functions for instantiating various Training Strategies, supporting different VLMs, backbones, +and strategy configurations. +""" + +from typing import Callable, Optional + +import torch + +from prismatic.models.vlms import PrismaticVLM +from prismatic.training.strategies import FSDPStrategy, TrainingStrategy + +# Registry =>> Maps ID --> {cls(), kwargs} :: supports FSDP for now, but DDP handler is also implemented! +TRAIN_STRATEGIES = { + "fsdp-shard-grad-op": {"cls": FSDPStrategy, "kwargs": {"sharding_strategy": "shard-grad-op"}}, + "fsdp-full-shard": {"cls": FSDPStrategy, "kwargs": {"sharding_strategy": "full-shard"}}, +} + + +def get_train_strategy( + train_strategy: str, + vlm: PrismaticVLM, + device_id: int, + stage: str, + epochs: int, + max_steps: Optional[int], + global_batch_size: int, + per_device_batch_size: int, + learning_rate: float, + weight_decay: float, + max_grad_norm: float, + lr_scheduler_type: str, + warmup_ratio: float, + enable_gradient_checkpointing: bool = True, + enable_mixed_precision_training: bool = True, + reduce_in_full_precision: bool = False, + mixed_precision_dtype: torch.dtype = torch.bfloat16, + worker_init_fn: Optional[Callable[[int], None]] = None, +) -> TrainingStrategy: + if train_strategy in TRAIN_STRATEGIES: + strategy_cfg = TRAIN_STRATEGIES[train_strategy] + strategy = strategy_cfg["cls"]( + vlm=vlm, + device_id=device_id, + stage=stage, + epochs=epochs, + max_steps=max_steps, + global_batch_size=global_batch_size, + per_device_batch_size=per_device_batch_size, + learning_rate=learning_rate, + weight_decay=weight_decay, + max_grad_norm=max_grad_norm, + lr_scheduler_type=lr_scheduler_type, + warmup_ratio=warmup_ratio, + enable_gradient_checkpointing=enable_gradient_checkpointing, + enable_mixed_precision_training=enable_mixed_precision_training, + reduce_in_full_precision=reduce_in_full_precision, + mixed_precision_dtype=mixed_precision_dtype, + worker_init_fn=worker_init_fn, + **strategy_cfg["kwargs"], + ) + return strategy + else: + raise ValueError(f"Train Strategy `{train_strategy}` is not supported!") diff --git a/VLA-Adapter-UAV/prismatic/training/metrics.py b/VLA-Adapter-UAV/prismatic/training/metrics.py new file mode 100644 index 0000000000000000000000000000000000000000..9dc86ed13889a6b94dca0ebf2db89cf9823d12e6 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/training/metrics.py @@ -0,0 +1,348 @@ +""" +metrics.py + +Utility classes defining a Metrics container and multiple Trackers to enable model/stage-specific logging to various +endpoints (e.g., JSONL local logs, Weights & Biases). +""" + +import time +from collections import defaultdict, deque +from pathlib import Path +from typing import Any, Dict, Optional, Protocol, Tuple, Union + +import jsonlines +import numpy as np +import torch +import wandb + +from prismatic.overwatch import initialize_overwatch + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +# === Define Tracker Interface === +class Tracker(Protocol): + def write_hyperparameters(self) -> None: ... + + def write(self, global_step: int, metrics: Dict[str, Union[int, float]]) -> None: ... + + def finalize(self) -> None: ... + + +# === Individual Tracker Definitions === +class JSONLinesTracker: + def __init__(self, run_id: str, run_dir: Path, hparams: Dict[str, Any]) -> None: + self.run_id, self.run_dir, self.hparams = run_id, run_dir, hparams + + @overwatch.rank_zero_only + def write_hyperparameters(self) -> None: + with jsonlines.open(self.run_dir / "run-metrics.jsonl", mode="w", sort_keys=True) as js_tracker: + js_tracker.write({"run_id": self.run_id, "hparams": self.hparams}) + + @overwatch.rank_zero_only + def write(self, _: int, metrics: Dict[str, Union[int, float]]) -> None: + with jsonlines.open(self.run_dir / f"{self.run_id}.jsonl", mode="a", sort_keys=True) as js_tracker: + js_tracker.write(metrics) + + def finalize(self) -> None: + return + + +class WeightsBiasesTracker: + def __init__( + self, + run_id: str, + run_dir: Path, + hparams: Dict[str, Any], + project: str = "prismatic", + entity: Optional[str] = None, + group: str = "align", + ) -> None: + self.run_id, self.run_dir, self.hparams = run_id, run_dir, hparams + + # Get W&B-Specific Initialization Parameters + self.project, self.entity, self.group, self.wandb_dir = project, entity, group, self.run_dir + + # Call W&B.init() + self.initialize() + + @overwatch.rank_zero_only + def initialize(self) -> None: + wandb.init( + name=self.run_id, + dir=self.wandb_dir, + config=self.hparams, + project=self.project, + entity=self.entity, + group=self.group, + ) + + @overwatch.rank_zero_only + def write_hyperparameters(self) -> None: + wandb.config = self.hparams + + @overwatch.rank_zero_only + def write(self, global_step: int, metrics: Dict[str, Union[int, float]]) -> None: + wandb.log(metrics, step=global_step) + + @staticmethod + def finalize() -> None: + if overwatch.is_rank_zero(): + wandb.finish() + + # A job gets 210 seconds to get its affairs in order + time.sleep(210) + + +# === Core Metrics Container :: Initializes Trackers => Compiles/Pushes Metrics === + + +class Metrics: + def __init__( + self, + active_trackers: Tuple[str, ...], + run_id: str, + run_dir: Path, + hparams: Dict[str, Any], + stage: str, + wandb_project: str = "prismatic", + wandb_entity: Optional[str] = None, + grad_accumulation_steps: int = 1, + window_size: int = 128, + ) -> None: + self.run_id, self.run_dir, self.hparams, self.stage = run_id, run_dir, hparams, stage + + # Initialize Trackers + self.trackers = [] + for tracker_type in active_trackers: + if tracker_type == "jsonl": + tracker = JSONLinesTracker(run_id, run_dir, hparams) + elif tracker_type == "wandb": + tracker = WeightsBiasesTracker( + run_id, run_dir, hparams, project=wandb_project, entity=wandb_entity, group=self.stage + ) + else: + raise ValueError(f"Tracker with type `{tracker_type} is not supported!") + + # Add Hyperparameters --> add to `self.trackers` + tracker.write_hyperparameters() + self.trackers.append(tracker) + + # Create Universal Metrics Buffers + self.global_step, self.start_time, self.step_start_time = 0, time.time(), time.time() + self.state = { + "loss_raw": deque(maxlen=grad_accumulation_steps), + "loss": deque(maxlen=window_size), + "step_time": deque(maxlen=window_size), + "lr": [], + } + + def log(self, global_step: int, metrics: Dict[str, Union[int, float]]) -> None: + for tracker in self.trackers: + tracker.write(global_step, metrics) + + def get_status(self, loss: Optional[torch.Tensor] = None) -> str: + lr = self.state["lr"][-1] if len(self.state["lr"]) > 0 else 0 + if loss is None: + return f"=>> [Global Step] {self.global_step:06d} =>> LR :: {lr:.6f}" + + # Otherwise, embed `loss` in status report! + return f"=>> [Global Step] {self.global_step:06d} =>> LR :: {lr:.6f} -- Loss :: {loss:.4f}" + + def commit( + self, *, global_step: Optional[int] = None, lr: Optional[float] = None, update_step_time: bool = False, **kwargs + ) -> None: + """Update all metrics in `self.state` by iterating through special positional arguments & kwargs.""" + if global_step is not None: + self.global_step = global_step + + # For all other variables --> only track on rank zero! + if not overwatch.is_rank_zero(): + return + + # Special Positional Arguments + if lr is not None: + self.state["lr"].append(lr) + + if update_step_time: + self.state["step_time"].append(time.time() - self.step_start_time) + self.step_start_time = time.time() + + # Generic Keyword Arguments + for key, value in kwargs.items(): + if key == "loss": + loss_val = value.detach() + self.state["loss_raw"].append(loss_val) + self.state["loss"].append(loss_val) + else: + self.state[key].append(value.detach()) + + @overwatch.rank_zero_only + def push(self) -> str: + # Note :: Raw Loss is an Average over Gradient Accumulation Steps --> No Smoothing! + loss_raw = torch.stack(list(self.state["loss_raw"])).mean().item() + loss = torch.stack(list(self.state["loss"])).mean().item() + step_time, lr = np.mean(list(self.state["step_time"])), self.state["lr"][-1] + status = self.get_status(loss) + + # Fire to Trackers + prefix = self.stage.capitalize() + self.log( + self.global_step, + metrics={ + f"{prefix}/Step": self.global_step, + f"{prefix}/Loss": loss, + f"{prefix}/Loss (Raw)": loss_raw, + f"{prefix}/Learning Rate": lr, + f"{prefix}/Step Time": step_time, + }, + ) + return status + + def finalize(self) -> str: + for tracker in self.trackers: + tracker.finalize() + + +class VLAMetrics: + def __init__( + self, + active_trackers: Tuple[str, ...], + run_id: str, + run_dir: Path, + hparams: Dict[str, Any], + wandb_project: str = "openvla", + wandb_entity: Optional[str] = "stanford-voltron", + grad_accumulation_steps: int = 1, + window_size: int = 1, + resume_step: Optional[int] = None, + resume_epoch: Optional[int] = None, + ) -> None: + self.run_id, self.run_dir, self.hparams = run_id, run_dir, hparams + + # Initialize Trackers + self.trackers = [] + for tracker_type in active_trackers: + if tracker_type == "jsonl": + tracker = JSONLinesTracker(run_id, run_dir, hparams) + elif tracker_type == "wandb": + tracker = WeightsBiasesTracker( + run_id, run_dir, hparams, project=wandb_project, entity=wandb_entity, group="vla-train" + ) + else: + raise ValueError(f"Tracker with type `{tracker_type} is not supported!") + + # Add Hyperparameters --> add to `self.trackers` + tracker.write_hyperparameters() + self.trackers.append(tracker) + + # Create Universal Metrics Buffers + self.global_step = 0 if resume_step is None else resume_step + self.epoch = 0 if resume_epoch is None else resume_epoch + self.start_time, self.step_start_time = time.time(), time.time() + self.state = { + "loss_raw": deque(maxlen=grad_accumulation_steps), + "loss": deque(maxlen=window_size), + "l1_loss": deque(maxlen=window_size), + "action_accuracy": deque(maxlen=window_size), + "step_time": deque(maxlen=window_size), + "lr": [], + } + + # Created metrics buffers for individual tracked datasets + self.dataset_trackers = defaultdict(lambda: VLAMetrics([], "", "", {})) + + def log(self, global_step: int, metrics: Dict[str, Union[int, float]]) -> None: + for tracker in self.trackers: + tracker.write(global_step, metrics) + + def get_status(self, loss: Optional[torch.Tensor] = None) -> str: + lr = self.state["lr"][-1] if len(self.state["lr"]) > 0 else 0 + if loss is None: + return f"=>> [Epoch {self.epoch:03d}] Global Step {self.global_step:06d} =>> LR :: {lr:.6f}" + + # Otherwise, embed `loss` in status report! + return f"=>> [Epoch {self.epoch:03d}] Global Step {self.global_step:06d} =>> LR :: {lr:.6f} - Loss :: {loss:.4f}" + + def commit( + self, + *, + global_step: Optional[int] = None, + epoch: Optional[int] = None, + lr: Optional[float] = None, + update_step_time: bool = False, + **kwargs, + ) -> None: + """Update all metrics in `self.state` by iterating through special positional arguments & kwargs.""" + if global_step is not None: + self.global_step = global_step + + if epoch is not None: + self.epoch = epoch + + # For all other variables --> only track on rank zero! + if not overwatch.is_rank_zero(): + return + + # Special Positional Arguments + if lr is not None: + self.state["lr"].append(lr) + + if update_step_time: + self.state["step_time"].append(time.time() - self.step_start_time) + self.step_start_time = time.time() + + # Generic Keyword Arguments + for key, value in kwargs.items(): + if key == "loss": + loss_val = value.detach() + self.state["loss_raw"].append(loss_val) + self.state["loss"].append(loss_val) + else: + self.state[key].append(value.detach()) + + def commit_for_dataset(self, dataset_name: str, **kwargs) -> None: + self.dataset_trackers[dataset_name].commit(**kwargs) + + @overwatch.rank_zero_only + def push(self) -> str: + # Note :: Raw Loss is an Average over Gradient Accumulation Steps --> No Smoothing! + loss_raw = torch.stack(list(self.state["loss_raw"])).mean().item() + loss = torch.stack(list(self.state["loss"])).mean().item() + l1_loss = torch.stack(list(self.state["l1_loss"])).mean().item() + action_accuracy = torch.stack(list(self.state["action_accuracy"])).mean().item() + step_time, lr = np.mean(list(self.state["step_time"])), self.state["lr"][-1] + status = self.get_status(loss) + + # Get metrics per dataset + dataset_metrics = {} + for ds, tracker in self.dataset_trackers.items(): + dataset_metrics.update( + { + f"{ds}/L1 Loss": torch.stack(list(tracker.state["l1_loss"])).mean().item(), + f"{ds}/Action Token Accuracy": torch.stack(list(tracker.state["action_accuracy"])).mean().item(), + } + ) + + # Fire to Trackers + prefix = "VLA Train" + self.log( + self.global_step, + metrics={ + f"{prefix}/Step": self.global_step, + f"{prefix}/Epoch": self.epoch, + f"{prefix}/Loss": loss, + f"{prefix}/L1 Loss": l1_loss, + f"{prefix}/Action Token Accuracy": action_accuracy, + f"{prefix}/Loss (Raw)": loss_raw, + f"{prefix}/Learning Rate": lr, + f"{prefix}/Step Time": step_time, + **dataset_metrics, + }, + ) + return status + + def finalize(self) -> str: + for tracker in self.trackers: + tracker.finalize() diff --git a/VLA-Adapter-UAV/prismatic/training/strategies/__init__.py b/VLA-Adapter-UAV/prismatic/training/strategies/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..d73eb1069c982ed3969ba3af56479c0359051a1b --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/training/strategies/__init__.py @@ -0,0 +1,3 @@ +from .base_strategy import TrainingStrategy +from .ddp import DDPStrategy +from .fsdp import FSDPStrategy diff --git a/VLA-Adapter-UAV/prismatic/training/strategies/__pycache__/__init__.cpython-310.pyc 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of a (distributed) training strategy, with full annotations of class methods, utility +functions, and initialization logic. + +Training Strategies (DDP, FSDP-Grad, FSDP-Full) tend to have a lot of repeated components; this class does a lot of +heavy lifting. +""" + +from abc import ABC, abstractmethod +from pathlib import Path +from typing import Callable, Optional + +import numpy as np +import torch +import torch.distributed as dist +from torch.utils.data import DataLoader, Dataset, DistributedSampler, IterableDataset +from tqdm import tqdm +from transformers.modeling_outputs import CausalLMOutputWithPast + +from prismatic.models.vlms import PrismaticVLM +from prismatic.overwatch import initialize_overwatch +from prismatic.training.metrics import Metrics, VLAMetrics +from prismatic.training.train_utils import ( + compute_actions_l1_loss, + compute_token_accuracy, + get_current_action_mask, + get_next_actions_mask, +) +from prismatic.util import check_bloat16_supported +from prismatic.util.batching_utils import SplitModalitySampler +from prismatic.util.data_utils import PaddedCollatorForActionPrediction, PaddedCollatorForLanguageModeling +from prismatic.vla.action_tokenizer import ActionTokenizer + +# HuggingFace Default / LLaMa-2 IGNORE_INDEX (for labels) +from prismatic.vla.constants import ACTION_DIM, ACTION_TOKEN_BEGIN_IDX, NUM_ACTIONS_CHUNK, IGNORE_INDEX +NEWLINE_INDEX = 13 # '\n' +STOP_INDEX = 2 # '' + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +# === Abstract Base Class for an arbitrary Training Strategy === +class TrainingStrategy(ABC): + def __init__( + self, + vlm: PrismaticVLM, + device_id: int, + stage: str, + epochs: int, + max_steps: Optional[int], + global_batch_size: int, + per_device_batch_size: int, + learning_rate: float, + weight_decay: float, + max_grad_norm: float, + lr_scheduler_type: str, + warmup_ratio: float, + enable_gradient_checkpointing: bool = True, + enable_mixed_precision_training: bool = True, + reduce_in_full_precision: bool = False, + mixed_precision_dtype: torch.dtype = torch.bfloat16, + worker_init_fn: Optional[Callable[[int], None]] = None, + **_: str, + ) -> None: + self.vlm, self.device_id, self.stage = vlm, device_id, stage + + # Get relevant VLM instance parameters before they get (potentially) wrapped + self.all_module_keys, self.trainable_module_keys = self.vlm.all_module_keys, self.vlm.trainable_module_keys + self.llm_transformer_layer_cls = self.vlm.llm_backbone.transformer_layer_cls + + # Optimization Parameters + self.epochs, self.max_steps = epochs, max_steps + self.global_batch_size, self.per_device_batch_size = global_batch_size, per_device_batch_size + + self.learning_rate, self.weight_decay, self.max_grad_norm = learning_rate, weight_decay, max_grad_norm + self.lr_scheduler_type, self.warmup_ratio = lr_scheduler_type, warmup_ratio + + # Generic Strategy Parameters + self.enable_gradient_checkpointing = enable_gradient_checkpointing + self.enable_mixed_precision_training = enable_mixed_precision_training + self.reduce_in_full_precision = reduce_in_full_precision + self.mixed_precision_dtype = mixed_precision_dtype + + # DataLoader Parameters + self.worker_init_fn = worker_init_fn + + # Optimizers & Scheduler (initialized in `run_setup`) + self.optimizer, self.lr_scheduler = None, None + + # Lightweight Validation + assert ( + self.global_batch_size % self.per_device_batch_size == 0 + ), "Per-device batch size must evenly divide global batch size!" + self.grad_accumulation_steps = self.global_batch_size // self.per_device_batch_size // overwatch.world_size() + if self.enable_mixed_precision_training: + assert self.mixed_precision_dtype == torch.bfloat16, "Only BF16 mixed precision training is supported!" + assert check_bloat16_supported(), "BFloat16 is not supported on this hardware; unset `mixed_precision`" + + @abstractmethod + def save_checkpoint( + self, + run_dir: Path, + global_step: int, + epoch: int, + train_loss: Optional[float] = None, + only_trainable: bool = True, + ) -> None: ... + + @abstractmethod + def run_setup(self, run_dir: Path, n_train_examples: int) -> None: ... + + @abstractmethod + def clip_grad_norm(self) -> None: ... + + def run_training( + self, + dataset: Dataset, + collator: PaddedCollatorForLanguageModeling, + metrics: Metrics, + stage: str = "finetune", + batch_construction_strategy: str = "split-modality", + seed: int = 7, + ) -> None: + """Run the training loop for the given `dataset` and `collator`; log losses, results to `metrics`""" + if "finetune" in stage and batch_construction_strategy == "split-modality": + # Instantiate the split-modality sampler; if you want to extend with other batch construction schemes, + # (e.g., grouping by length) =>> can easily add them here! + modality_lengths = dataset.get_modality_lengths() + sampler = SplitModalitySampler( + dataset, + modality_lengths, + global_batch_size=self.global_batch_size, + num_replicas=overwatch.world_size(), + rank=overwatch.rank(), + seed=seed, + drop_last=False, + ) + + else: + sampler = DistributedSampler( + dataset, + num_replicas=overwatch.world_size(), + rank=overwatch.rank(), + shuffle=True, + seed=seed, + drop_last=False, + ) + + # Create a DataLoader with the initialized sampler, per-device-bsz, and collator + dataloader = DataLoader( + dataset, + batch_size=self.per_device_batch_size, + sampler=sampler, + collate_fn=collator, + num_workers=2, + worker_init_fn=self.worker_init_fn, + ) + + # Max Steps vs. Epochs Computation + steps_per_epoch = len(dataloader) // self.grad_accumulation_steps + if self.max_steps is not None and steps_per_epoch < self.max_steps: + # Just set `epochs` to some large number --> we'll short-circuit based on steps anyway + self.epochs = 100 + + # === Train === + status = metrics.get_status() + with tqdm( + total=( + (self.epochs * (len(dataloader) // self.grad_accumulation_steps)) + if self.max_steps is None + else self.max_steps + ), + desc=status, + leave=False, + disable=not overwatch.is_rank_zero(), + ) as progress: + for epoch in range(self.epochs): + self.vlm.train() + sampler.set_epoch(epoch) + + # Zero-Gradients (just in case) + self.optimizer.zero_grad() + + # Note that we'll unpack batch (and let AMP/FSDP do its thing) in the VLM.forward() call + # => Basically, if we're using mixed precision (or not), autocast()/FSDP will move to device! + for train_idx, batch in enumerate(dataloader): + # [Contract] self.vlm.forward() must automatically compute `loss` and return! + with torch.autocast( + "cuda", + dtype=self.mixed_precision_dtype, + enabled=self.enable_mixed_precision_training, + ): + output: CausalLMOutputWithPast = self.vlm( + input_ids=batch["input_ids"], + attention_mask=batch["attention_mask"], + pixel_values=batch["pixel_values"], + labels=batch["labels"], + multimodal_indices=batch["multimodal_indices"], + ) + loss = output.loss + + # Commit Loss (Prior to Gradient Accumulation Normalization) + metrics.commit(loss=loss) + + # Normalize Loss to account for Gradient Accumulation --> Backward! + # [IMPORTANT] Technically speaking, doing gradient accumulation in this way is "incorrect"; this is + # because in general, each batch has a *different number of masked out tokens* (because + # we're instruct-tuning). Taking the mean over two unbalanced means != the right thing! + # + # HOWEVER -- at least at the 7B scale, the "naive" approach is just as performant as + # the "correct" implementation, without adding extra complexity. + # + # That being said =>> at the 13B scale, *no matter what we tried, ANY gradient accumulation is just + # really bad for downstream performance. Initial investigation shows that BF16 accumulation + # just really tanks in precision... and don't have a good/clean way to fix this. Would love for + # someone to PR and fix this (and I'd greatly appreciate it!!!) + normalized_loss = loss / self.grad_accumulation_steps + normalized_loss.backward() + + # Step =>> Only if Done w/ Gradient Accumulation + if (train_idx + 1) % self.grad_accumulation_steps == 0: + metrics.commit(update_step_time=True) + + # Clip Gradients --> this is custom, per-strategy because of DDP vs. FSDP locality-assumptions + self.clip_grad_norm() + + # Optimizer & LR Scheduler Step + self.optimizer.step() + self.lr_scheduler.step() + self.optimizer.zero_grad() + + # Push Metrics + metrics.commit(global_step=metrics.global_step + 1, lr=self.lr_scheduler.get_last_lr()[0]) + status = metrics.push() + + # Check for Termination & Save Final Checkpoint (in case `max_steps` is not None) + if self.max_steps is not None and metrics.global_step >= self.max_steps: + self.save_checkpoint(metrics.run_dir, metrics.global_step, epoch, loss.item()) + dist.barrier() + + return + + # Update Progress Bar + progress.update() + progress.set_description(status) + + # Save checkpoint at end each epoch (if `self.max_steps` is None) + if self.max_steps is None: + self.save_checkpoint(metrics.run_dir, metrics.global_step, epoch, loss.item()) + dist.barrier() + + # === VLA Training === + + def run_vla_training( + self, + vla_dataset: IterableDataset, + collator: PaddedCollatorForActionPrediction, + action_tokenizer: ActionTokenizer, + metrics: VLAMetrics, + save_interval: int = 2500, + save_full_model: bool = True, + ) -> None: + """Run the VLA training loop for the given `dataset` and `collator`; log losses, action metrics to `metrics`.""" + assert isinstance(vla_dataset, IterableDataset), "VLA training expects an IterableDataset!" + assert self.grad_accumulation_steps == 1, "VLA training does not support gradient accumulation!" + + # Create a DataLoader =>> Set `num_workers` to 0; RLDS loader handles parallelism! + dataloader = DataLoader( + vla_dataset, + batch_size=self.per_device_batch_size, + sampler=None, + collate_fn=collator, + num_workers=0, + worker_init_fn=self.worker_init_fn, + ) + + # === Train === + status = metrics.get_status() + with tqdm( + total=(self.epochs * len(dataloader)) if self.max_steps is None else self.max_steps, + desc=status, + leave=False, + disable=not overwatch.is_rank_zero(), + ) as progress: + self.vlm.train() + + # Zero Gradients (just in case) + self.optimizer.zero_grad() + + # [Contract] DataLoader wraps RLDS Loader (`.as_numpy_iterator() =>> implicit `.repeat()`) + # => This means looping over the DataLoader is basically "infinite" (so no outer loop over epochs). + # Slightly breaks default PyTorch semantics, which is why we adaptively compute `epoch` below. + for batch in dataloader: + # Note that we'll unpack batch (and let AMP/FSDP do its thing) in the VLM.forward() call + # => Basically, if we're using mixed precision (or not), autocast()/FSDP will move to device! + with torch.autocast( + "cuda", dtype=self.mixed_precision_dtype, enabled=self.enable_mixed_precision_training + ): + # [Contract] self.vlm.forward() must automatically compute `loss` and return! + output: CausalLMOutputWithPast = self.vlm( + input_ids=batch["input_ids"], + attention_mask=batch["attention_mask"], + pixel_values=batch["pixel_values"], + labels=batch["labels"], + ) + loss = output.loss + + # Commit Loss =>> Backward! + metrics.commit(loss=loss) + loss.backward() + + # Get predicted and ground-truth token IDs + predicted_token_ids = output.logits[:, self.vlm.vision_backbone.num_patches : -1].argmax(dim=2) + ground_truth_token_ids = batch["labels"][:, 1:].to(predicted_token_ids.device) + + ####################################################################### + # === Compute Current Action Token Accuracy & L1 Loss === + ####################################################################### + + # Get current action mask: Target the first ACTION_DIM non-ignore tokens + current_action_mask = get_current_action_mask(ground_truth_token_ids) + + # Compute Accuracy + action_accuracy = compute_token_accuracy(predicted_token_ids, ground_truth_token_ids, mask=current_action_mask) + + # Compute L1 Loss on Predicted (Continuous) Actions + action_l1_loss = compute_actions_l1_loss(action_tokenizer, predicted_token_ids, ground_truth_token_ids, mask=current_action_mask) + + ####################################################################### + # === Compute Next Actions Token Accuracy & L1 Loss === + ####################################################################### + + # Get next actions mask: Target all tokens after the first ACTION_DIM non-ignore tokens (excluding the last token, which is the stop token) + next_actions_mask = get_next_actions_mask(ground_truth_token_ids) + + # Compute Accuracy + next_actions_accuracy = compute_token_accuracy(predicted_token_ids, ground_truth_token_ids, mask=next_actions_mask) + + # Compute L1 Loss on Predicted (Continuous) Actions + next_actions_l1_loss = compute_actions_l1_loss(action_tokenizer, predicted_token_ids, ground_truth_token_ids, mask=next_actions_mask) + + ####################################################################### + # === Log === + ####################################################################### + + # Commit Metrics + metrics.commit( + action_accuracy=action_accuracy, + l1_loss=action_l1_loss, + next_actions_accuracy=next_actions_accuracy, + next_actions_l1_loss=next_actions_l1_loss, + update_step_time=True, + ) + + # Compute metrics per dataset --> only on rank_zero since we don't log them on other workers anyways + if overwatch.is_rank_zero(): + datasets = set(batch["dataset_names"]) + if len(datasets) > 1: + for ds in datasets: + ds_mask = torch.tensor([elem == ds for elem in batch["dataset_names"]]) + action_accuracy_ds = correct_preds[ds_mask].sum().float() / mask[ds_mask].sum().float() + pred_continuous_actions_ds = torch.tensor( + action_tokenizer.decode_token_ids_to_actions( + predicted_token_ids[ds_mask][mask[ds_mask]].cpu().numpy() + ) + ) + continuous_actions_gt_ds = torch.tensor( + action_tokenizer.decode_token_ids_to_actions( + ground_truth_token_ids[ds_mask][mask[ds_mask]].cpu().numpy() + ) + ) + action_l1_loss_ds = torch.nn.functional.l1_loss( + pred_continuous_actions_ds, continuous_actions_gt_ds + ) + metrics.commit_for_dataset( + dataset_name=ds.decode(), + action_accuracy=action_accuracy_ds, + l1_loss=action_l1_loss_ds, + next_actions_accuracy=next_actions_accuracy, + next_actions_l1_loss=next_actions_l1_loss, + ) + + # === Gradient Step === + + # Clip Gradients --> this is custom, per-strategy because of DDP vs. FSDP locality assumptions + self.clip_grad_norm() + + # Optimizer & LR Scheduler Step + self.optimizer.step() + self.lr_scheduler.step() + self.optimizer.zero_grad() + + # Compute epoch value using number of completed gradient steps + epoch = (metrics.global_step + 1) // (len(vla_dataset) // self.global_batch_size) + + # Push Metrics + metrics.commit(global_step=metrics.global_step + 1, epoch=epoch, lr=self.lr_scheduler.get_last_lr()[0]) + status = metrics.push() + + # Check for Save Interval or Max Steps & Save Checkpoint + if (terminate := (self.max_steps is not None and metrics.global_step >= self.max_steps)) or ( + (metrics.global_step % save_interval) == 0 + ): + self.save_checkpoint( + metrics.run_dir, metrics.global_step, epoch, loss.item(), only_trainable=not save_full_model + ) + dist.barrier() + + if terminate: + return + + # Update Progress Bar + progress.update() + progress.set_description(status) diff --git a/VLA-Adapter-UAV/prismatic/training/strategies/ddp.py b/VLA-Adapter-UAV/prismatic/training/strategies/ddp.py new file mode 100644 index 0000000000000000000000000000000000000000..be6c1dd20ef1d315eba1aaf77a94b196ea38af45 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/training/strategies/ddp.py @@ -0,0 +1,128 @@ +""" +ddp.py + +Core class definition for a strategy implementing Torch native Distributed Data Parallel Training; note that on most +GPU hardware and LLM backbones >= 5-7B parameters, DDP training will OOM, which is why we opt for FSDP. +""" + +import shutil +from pathlib import Path +from typing import Optional + +import torch +from torch.nn.parallel import DistributedDataParallel as DDP +from torch.optim import AdamW +from transformers.optimization import get_constant_schedule, get_cosine_schedule_with_warmup + +from prismatic.overwatch import initialize_overwatch +from prismatic.training.strategies.base_strategy import TrainingStrategy + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +class DDPStrategy(TrainingStrategy): + @overwatch.rank_zero_only + def save_checkpoint( + self, + run_dir: Path, + global_step: int, + epoch: int, + train_loss: Optional[float] = None, + only_trainable: bool = True, + ) -> None: + """Save a checkpoint to the `run_dir` only containing the state_dicts for trainable parameters by default.""" + assert isinstance(self.vlm, DDP), "save_checkpoint assumes VLM is already wrapped in DDP!" + + # Splinter State Dictionary by Top-Level Submodules (or subset, if `only_trainable`) + model_state_dicts = { + mkey: getattr(self.vlm.module, mkey).state_dict() + for mkey in (self.trainable_module_keys if only_trainable else self.all_module_keys) + } + optimizer_state_dict = self.optimizer.state_dict() + + # Set Checkpoint Path =>> Embed *minimal* training statistics! + checkpoint_dir = run_dir / "checkpoints" + if train_loss is None: + checkpoint_path = checkpoint_dir / f"step-{global_step:06d}-epoch-{epoch:02d}-loss=inf.pt" + else: + checkpoint_path = checkpoint_dir / f"step-{global_step:06d}-epoch-{epoch:02d}-loss={train_loss:.4f}.pt" + + # Save Checkpoint & Copy Latest to `latest-checkpoint.pt` + torch.save({"model": model_state_dicts, "optimizer": optimizer_state_dict}, checkpoint_path) + shutil.copy(checkpoint_path, checkpoint_dir / "latest-checkpoint.pt") + + def run_setup(self, run_dir: Path, n_train_examples: int) -> None: + # Gradient Checkpointing Setup + if self.enable_gradient_checkpointing: + # For Gradient Checkpointing --> we make the assumption that the "bulk" of activation memory is taken up + # by the LLM; because we also make the explicit assumption that each LLM is derived from a HF + # pretrained model, the only thing we *need* to do (technically) is call `gradient_checkpoint_enable` + # on `self.llm_backbone`. + # + # What does it actually do? --> runs the *generic* custom_forward + torch.utils.checkpoint.checkpoint logic + # => github.com/huggingface/transformers/.../models/llama/modeling_llama.py#L692-L706 + # + # Additional Reference (to better understand gradient checkpointing in PyTorch writ large) + # => github.com/prigoyal/pytorch_memonger/blob/master/tutorial/Checkpointing_for_PyTorch_models.ipynb + overwatch.info("Enabling Gradient Checkpointing on LLM Backbone", ctx_level=1) + self.vlm.llm_backbone.gradient_checkpointing_enable() + + # Move to Device =>> Note parameters are in full precision (*mixed precision* will only autocast as appropriate) + overwatch.info("Placing Entire VLM (Vision Backbone, LLM Backbone, Projector Weights) on GPU", ctx_level=1) + self.vlm.to(self.device_id) + + # Wrap with Distributed Data Parallel + # => Note: By default, wrapping naively with DDP(self.vlm) will initialize a *separate* buffer on GPU that + # is the same size/dtype as the model parameters; this will *double* GPU memory! + # - stackoverflow.com/questions/68949954/model-takes-twice-the-memory-footprint-with-distributed-data-parallel + overwatch.info("Wrapping VLM with Distributed Data Parallel", ctx_level=1) + self.vlm = DDP(self.vlm, device_ids=[self.device_id], gradient_as_bucket_view=True) + + # Create Optimizer and LR Scheduler =>> note that most of the LR Schedulers we use require `max_steps/epochs` + # => Optimizer should only operate on parameters that are *unfrozen* / trainable! + trainable_params = [param for param in self.vlm.parameters() if param.requires_grad] + if self.max_steps is None: + num_training_steps = (n_train_examples * self.epochs) // self.global_batch_size + else: + num_training_steps = self.max_steps + + if self.lr_scheduler_type == "linear-warmup+cosine-decay": + # Set warmup steps (floor) based on `warmup_ratio` (should be 0.03 - 0.05) + num_warmup_steps = int(num_training_steps * self.warmup_ratio) + + assert self.weight_decay == 0, "DDP training does not currently support `weight_decay` > 0!" + self.optimizer = AdamW(trainable_params, lr=self.learning_rate, weight_decay=self.weight_decay) + self.lr_scheduler = get_cosine_schedule_with_warmup(self.optimizer, num_warmup_steps, num_training_steps) + for param_group in self.optimizer.param_groups: + param_group["lr"] = 0.0 + + elif self.lr_scheduler_type == "constant": + num_warmup_steps = 0 + + assert self.weight_decay == 0, "DDP training does not currently support `weight_decay` > 0!" + self.optimizer = AdamW(trainable_params, lr=self.learning_rate, weight_decay=self.weight_decay) + self.lr_scheduler = get_constant_schedule(self.optimizer) + + else: + raise ValueError(f"Learning Rate Schedule with type `{self.lr_scheduler_type}` is not supported!") + + # Finalize Setup =>> Log + overwatch.info( + "DDP Strategy =>> Finalized Training Setup:\n" + f" |-> Global (Effective) Batch Size = {self.global_batch_size}\n" + f" |-> Per-Device Batch Size = {self.per_device_batch_size}\n" + f" |-> Distributed World Size = {overwatch.world_size()}\n" + f" |-> Gradient Accumulation Steps = {self.grad_accumulation_steps}\n\n" + f" |-> LLM Backbone Gradient Checkpointing = {self.enable_gradient_checkpointing}\n" + f" |-> Use Native AMP = {self.enable_mixed_precision_training} ({self.mixed_precision_dtype})\n\n" + f" |-> Default AdamW LR = {self.learning_rate}\n" + f" |-> AdamW Weight Decay = {self.weight_decay}\n" + f" |-> LR Scheduler Type = {self.lr_scheduler_type}\n" + f" |-> LR Scheduler Warmup Steps (Ratio) = {num_warmup_steps} ({self.warmup_ratio})\n" + f" |-> Dataset Size = {n_train_examples} Examples\n" + f" |-> Max Steps = {num_training_steps}\n" + ) + + def clip_grad_norm(self) -> None: + torch.nn.utils.clip_grad_norm_(self.vlm.parameters(), max_norm=self.max_grad_norm) diff --git a/VLA-Adapter-UAV/prismatic/training/strategies/fsdp.py b/VLA-Adapter-UAV/prismatic/training/strategies/fsdp.py new file mode 100644 index 0000000000000000000000000000000000000000..9af28f474908af1bbb048a28968c986629ecc5a5 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/training/strategies/fsdp.py @@ -0,0 +1,270 @@ +""" +fsdp.py + +Core class definition for a strategy implementing Torch native Fully Sharded Data Parallel Training (with support for +fine-grained control over wrapping policies and mixed precision per component). +""" + +import math +from collections import OrderedDict +from functools import partial +from pathlib import Path +from typing import Callable, Optional + +import torch +import torch.distributed as dist +import torch.nn as nn +from torch.distributed.algorithms._checkpoint.checkpoint_wrapper import ( + CheckpointImpl, + apply_activation_checkpointing, + checkpoint_wrapper, +) +from torch.distributed.fsdp import ( + FullStateDictConfig, + MixedPrecision, + ShardingStrategy, + StateDictType, +) +from torch.distributed.fsdp import FullyShardedDataParallel as FSDP +from torch.optim import AdamW +from transformers.optimization import get_constant_schedule, get_cosine_schedule_with_warmup + +from prismatic.models.vlms import PrismaticVLM +from prismatic.overwatch import initialize_overwatch +from prismatic.training.strategies.base_strategy import TrainingStrategy + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +class FSDPStrategy(TrainingStrategy): + def __init__( + self, + vlm: PrismaticVLM, + device_id: int, + stage: str, + epochs: int, + max_steps: Optional[int], + global_batch_size: int, + per_device_batch_size: int, + learning_rate: float, + weight_decay: float, + max_grad_norm: float, + lr_scheduler_type: str, + warmup_ratio: float, + enable_gradient_checkpointing: bool = True, + enable_mixed_precision_training: bool = True, + reduce_in_full_precision: bool = False, + mixed_precision_dtype: torch.dtype = torch.bfloat16, + worker_init_fn: Optional[Callable[[int], None]] = None, + sharding_strategy: str = "shard-grad-op", + state_dict_type: StateDictType = StateDictType.FULL_STATE_DICT, + ) -> None: + super().__init__( + vlm=vlm, + device_id=device_id, + stage=stage, + epochs=epochs, + max_steps=max_steps, + global_batch_size=global_batch_size, + per_device_batch_size=per_device_batch_size, + learning_rate=learning_rate, + weight_decay=weight_decay, + max_grad_norm=max_grad_norm, + lr_scheduler_type=lr_scheduler_type, + warmup_ratio=warmup_ratio, + enable_gradient_checkpointing=enable_gradient_checkpointing, + enable_mixed_precision_training=enable_mixed_precision_training, + reduce_in_full_precision=reduce_in_full_precision, + mixed_precision_dtype=mixed_precision_dtype, + worker_init_fn=worker_init_fn, + ) + + # FSDP-Specific Parameters + if sharding_strategy == "shard-grad-op": + self.fsdp_sharding_strategy = ShardingStrategy._HYBRID_SHARD_ZERO2 + elif sharding_strategy == "full-shard": + self.fsdp_sharding_strategy = ShardingStrategy.HYBRID_SHARD + else: + raise ValueError(f"FSDP Sharding Strategy {sharding_strategy} is not supported!") + + assert state_dict_type == StateDictType.FULL_STATE_DICT, "Sharded state saving is not yet implemented!" + self.fsdp_state_dict_type = state_dict_type + self.fsdp_save_policy = FullStateDictConfig(offload_to_cpu=True, rank0_only=True) + + def save_checkpoint( + self, + run_dir: Path, + global_step: int, + epoch: int, + train_loss: Optional[float] = None, + only_trainable: bool = True, + ) -> None: + """Save a checkpoint to the `run_dir` only containing the state_dicts for trainable parameters by default.""" + assert isinstance(self.vlm, FSDP), "FSDPStrategy.save_checkpoint assumes VLM is already wrapped in FSDP!" + + # Summon Full State Dictionary =>> Reconstitute from Shards + with FSDP.state_dict_type(self.vlm, self.fsdp_state_dict_type, self.fsdp_save_policy): + full_vlm_state_dict = self.vlm.state_dict() + model_state_dicts = { + mkey: OrderedDict() for mkey in (self.trainable_module_keys if only_trainable else self.all_module_keys) + } + + # Iterate through `full_vlm_state_dict` and split `mkey.{full_dotted_path}` -> `mkey: {full_dotted_path}` + for key, param in full_vlm_state_dict.items(): + for mkey in model_state_dicts: + if key.startswith(mprefix := f"{mkey}."): + model_state_dicts[mkey][key.removeprefix(mprefix)] = param + + # Save on rank zero *only* + if overwatch.is_rank_zero(): + checkpoint_dir = run_dir / "checkpoints" + if train_loss is None: + checkpoint_path = checkpoint_dir / f"step-{global_step:06d}-epoch-{epoch:02d}-loss=inf.pt" + else: + checkpoint_path = ( + checkpoint_dir / f"step-{global_step:06d}-epoch-{epoch:02d}-loss={train_loss:.4f}.pt" + ) + + # Save Checkpoint & Copy Latest to `latest-checkpoint.pt` + torch.save({"model": model_state_dicts}, checkpoint_path) + + # TODO (siddk) :: This breaks w/ Sagemaker default permissions (root vs. )... skip? + # shutil.copy(checkpoint_path, checkpoint_dir / "latest-checkpoint.pt") + + def run_setup(self, run_dir: Path, n_train_examples: int) -> None: + # Iteratively Assemble FSDP Wrapping Policy by fetching the wrapping policies for each backbone/constituent + vlm_fsdp_wrapping_policy = self.vlm.get_fsdp_wrapping_policy() + + # Assemble the Default FSDP Mixed Precision Policy + if self.enable_mixed_precision_training and self.mixed_precision_dtype == torch.bfloat16: + # MixedPrecision `param_dtype` specifies *compute* dtype (for forward/backward only) + # => Reference: https://pytorch.org/docs/stable/fsdp.html#torch.distributed.fsdp.MixedPrecision + reduce_buffer_dtype = torch.bfloat16 if not self.reduce_in_full_precision else torch.float32 + fsdp_precision_policy = MixedPrecision( + param_dtype=torch.bfloat16, reduce_dtype=reduce_buffer_dtype, buffer_dtype=reduce_buffer_dtype + ) + + # When running FSDP with a frozen vision backbone --> move to half precision! + if self.stage not in {"full-finetune", "vla-full-train", "vla-sandwich-train"}: + overwatch.info("Casting Vision Backbone to *Half Precision* via `.to(dtype=...)`") + self.vlm.vision_backbone.to(dtype=self.vlm.vision_backbone.half_precision_dtype) + + else: + # If we're not using mixed precision, everything is in default full precision! + fsdp_precision_policy = MixedPrecision( + param_dtype=torch.float32, reduce_dtype=torch.float32, buffer_dtype=torch.float32 + ) + + # => note that FSDP will automatically take care of device placement (similar to `autocast`) + self.vlm = FSDP( + self.vlm, + auto_wrap_policy=vlm_fsdp_wrapping_policy, + mixed_precision=fsdp_precision_policy, + sharding_strategy=self.fsdp_sharding_strategy, + device_id=torch.cuda.current_device(), + limit_all_gathers=True, + use_orig_params=True, + ) + + # Gradient Checkpoint Setup + if self.enable_gradient_checkpointing: + # For Gradient Checkpointing under FSDP --> we make the same assumption as in the DDP/other strategies; the + # bulk of activation memory is taken up by the LLM activations. However, unlike other strategies, we + # cannot rely on the HF Transformers default `gradient_checkpointing_enable()` --> FSDP breaks semantics! + # + # Instead, we need to write our own *NO-REENTRANT* wrapper, and apply it to the LLM's Transformer Layer. + non_reentrant_wrapper = partial(checkpoint_wrapper, checkpoint_impl=CheckpointImpl.NO_REENTRANT) + + def check_fn(submodule: nn.Module) -> bool: + return isinstance(submodule, self.llm_transformer_layer_cls) + + # Note that the terms "activation checkpointing" and "gradient checkpointing" are synonymous! + apply_activation_checkpointing(self.vlm, checkpoint_wrapper_fn=non_reentrant_wrapper, check_fn=check_fn) + + # Barrier =>> Sharding takes a minute? + dist.barrier() + + # Create Optimizer and LR Scheduler =>> note that most of the LR Schedulers we use require `max_steps/epochs` + # => Optimizer should only operate on parameters that are *unfrozen* / trainable! + n_train_examples = math.ceil(n_train_examples / self.global_batch_size) * self.global_batch_size + if self.max_steps is None: + num_training_steps = (n_train_examples * self.epochs) // self.global_batch_size + else: + num_training_steps = self.max_steps + + if self.lr_scheduler_type == "linear-warmup+cosine-decay": + # Set warmup steps (floor) based on `warmup_ratio` (should be 0.03 - 0.05) + num_warmup_steps = int(num_training_steps * self.warmup_ratio) + + # Default AdamW w/ specified LR & Linear Warmup / Cosine Decay & Weight Decay + # => Create Parameter Groups --> bias terms, normalization layer parameters shouldn't be decayed! + decay, no_decay = [], [] + for name, param in self.vlm.named_parameters(): + if not param.requires_grad: + continue + + # Check on any parameters with fewer than 2 dimensions or with "bias" in the name + if param.ndim <= 1 or name.endswith(".bias"): + no_decay.append(param) + else: + decay.append(param) + + # Build Parameter Groups + groups = [{"params": decay, "weight_decay": self.weight_decay}, {"params": no_decay, "weight_decay": 0.0}] + + # Create Optimizer & LR Scheduler + self.optimizer = AdamW(groups, lr=self.learning_rate) + self.lr_scheduler = get_cosine_schedule_with_warmup(self.optimizer, num_warmup_steps, num_training_steps) + for param_group in self.optimizer.param_groups: + param_group["lr"] = 0.0 + + elif self.lr_scheduler_type == "constant": + num_warmup_steps = 0 + + # Default AdamW w/ specified LR & Linear Warmup / Cosine Decay & Weight Decay + # => Create Parameter Groups --> bias terms, normalization layer parameters shouldn't be decayed! + decay, no_decay = [], [] + for name, param in self.vlm.named_parameters(): + if not param.requires_grad: + continue + + # Check on any parameters with fewer than 2 dimensions or with "bias" in the name + if param.ndim <= 1 or name.endswith(".bias"): + no_decay.append(param) + else: + decay.append(param) + + # Build Parameter Groups + groups = [{"params": decay, "weight_decay": self.weight_decay}, {"params": no_decay, "weight_decay": 0.0}] + + # Create Optimizer & LR Scheduler + self.optimizer = AdamW(groups, lr=self.learning_rate) + self.lr_scheduler = get_constant_schedule(self.optimizer) + + else: + raise ValueError(f"Learning Rate Schedule with type `{self.lr_scheduler_type}` is not supported!") + + # Finalize Setup =>> Log! + overwatch.info( + "FSDP Full-Shard Strategy =>> Finalized Training Setup:\n" + f" |-> Global (Effective) Batch Size = {self.global_batch_size}\n" + f" |-> Per-Device Batch Size = {self.per_device_batch_size}\n" + f" |-> Distributed World Size = {overwatch.world_size()}\n" + f" |-> Gradient Accumulation Steps = {self.grad_accumulation_steps}\n\n" + f" |-> LLM Backbone FSDP Gradient Checkpointing = {self.enable_gradient_checkpointing}\n" + f" |-> Use FSDP Mixed Precision = {self.enable_mixed_precision_training}\n" + f" |-> Parameter Precision = {fsdp_precision_policy.param_dtype}\n" + f" |-> Reduction Precision = {fsdp_precision_policy.reduce_dtype}\n" + f" |-> Buffer Precision = {fsdp_precision_policy.buffer_dtype}\n\n" + f" |-> Default AdamW LR = {self.learning_rate}\n" + f" |-> AdamW Weight Decay = {self.weight_decay}\n" + f" |-> LR Scheduler Type = {self.lr_scheduler_type}\n" + f" |-> LR Scheduler Warmup Steps (Ratio) = {num_warmup_steps} ({self.warmup_ratio})\n" + f" |-> Dataset Size = {n_train_examples} Examples\n" + f" |-> Max Steps = {num_training_steps}\n" + ) + + def clip_grad_norm(self) -> None: + # Note =>> FSDP uses a custom `clip_grad_norm_` function; requires *uniform grad dtype* + self.vlm.clip_grad_norm_(max_norm=self.max_grad_norm) diff --git a/VLA-Adapter-UAV/prismatic/training/train_utils.py b/VLA-Adapter-UAV/prismatic/training/train_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..0a333525ef5a86880acf8e3617a20522c7539026 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/training/train_utils.py @@ -0,0 +1,58 @@ +"""Utils for training/fine-tuning scripts.""" + +import torch + +from prismatic.vla.constants import ACTION_DIM, ACTION_TOKEN_BEGIN_IDX, IGNORE_INDEX + + +def get_current_action_mask(token_ids): + # import pdb; pdb.set_trace() + # Create a tensor marking positions of IGNORE_INDEX + newline_positions = token_ids != IGNORE_INDEX + + # Calculate cumulative sum to identify regions between newlines + cumsum = torch.cumsum(newline_positions, dim=1) + + # Create the mask + mask = (1 <= cumsum) & (cumsum <= ACTION_DIM) + + # Extract the action part only + action_tokens_only_mask = token_ids > ACTION_TOKEN_BEGIN_IDX + mask = action_tokens_only_mask * mask + + return mask + + +def get_next_actions_mask(token_ids): + # import pdb; pdb.set_trace() + # Create a tensor marking positions of IGNORE_INDEX + newline_positions = token_ids != IGNORE_INDEX + + # Calculate cumulative sum to identify regions between newlines + cumsum = torch.cumsum(newline_positions, dim=1) + + # Create the mask + mask = cumsum > ACTION_DIM + + # Extract the action part only + action_tokens_only_mask = token_ids > ACTION_TOKEN_BEGIN_IDX + mask = action_tokens_only_mask * mask + + return mask + + +def compute_token_accuracy(predicted_token_ids, ground_truth_token_ids, mask): + correct_preds = (predicted_token_ids == ground_truth_token_ids) & mask + accuracy = correct_preds.sum().float() / mask.sum().float() + return accuracy + + +def compute_actions_l1_loss(action_tokenizer, predicted_token_ids, ground_truth_token_ids, mask): + pred_continuous_actions = torch.tensor( + action_tokenizer.decode_token_ids_to_actions(predicted_token_ids[mask].cpu().numpy()) + ) + true_continuous_actions = torch.tensor( + action_tokenizer.decode_token_ids_to_actions(ground_truth_token_ids[mask].cpu().numpy()) + ) + l1_loss = torch.nn.functional.l1_loss(pred_continuous_actions, true_continuous_actions) + return l1_loss diff --git a/VLA-Adapter-UAV/prismatic/util/__init__.py b/VLA-Adapter-UAV/prismatic/util/__init__.py new file mode 100644 index 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that a given device/batch is either entirely +(vision, language) or (language-only) data, which leads to sizeable efficiency gains. +""" + +import math +from typing import Iterator, List, Optional, Tuple + +import numpy as np +import torch +import torch.distributed as dist +from torch.utils.data import Dataset, Sampler + + +# High-Fidelity Bitwise Reproduction of the LLaVa Codebase Sampler Strategy + Per-Rank Allocation Scheme (following +# the default batching behavior of HF's Trainer Class --> derived from `accelerate`). +# +# =>> Reference: https://github.com/haotian-liu/LLaVA/blob/main/llava/train/llava_trainer.py#L60 +# =>> Reference: https://github.com/huggingface/transformers/blob/main/src/transformers/trainer_pt_utils.py#L603 +class SplitModalitySampler(Sampler): + def __init__( + self, + dataset: Dataset, + modality_lengths: List[Tuple[bool, int]], + global_batch_size: int, + num_replicas: Optional[int] = None, + rank: Optional[int] = None, + seed: int = 0, + drop_last: bool = False, + ) -> None: + super().__init__() + self.num_replicas = num_replicas if num_replicas is not None else dist.get_world_size() + self.rank = rank if rank is not None else dist.get_rank() + self.seed, self.epoch = seed, 0 + + # Custom Parameters + self.dataset, self.modality_lengths, self.drop_last = dataset, modality_lengths, drop_last + self.global_batch_size = global_batch_size + + # For our purposes, `drop_last` is always False! + assert not self.drop_last, "SplitModalitySampler must set `drop_last = False`!" + self.total_size = math.ceil(len(self.dataset) / self.global_batch_size) * self.global_batch_size + self.num_samples = self.total_size // self.num_replicas + + @staticmethod + def reindex_batch(batch_idxs: List[int], idx2lengths: List[int], n_buckets: int) -> List[List[int]]: + """Re-indexes a batch in a way that is conducive to DistributedSampler + grouping by seqlen per rank.""" + assert len(batch_idxs) % n_buckets == 0, "Batch length is not divisible by `num_replicas`!" + + # Establish initial buckets, capacities, and max number of elements per bucket + n_examples_per_bucket = len(batch_idxs) // n_buckets + bucket_indices = [[] for _ in range(n_buckets)] + bucket_lengths = [0 for _ in range(n_buckets)] + + # Note that `batch_idxs` is already sorted by corresponding length (in descending order) + for idx in batch_idxs: + shortest_bucket_idx = bucket_lengths.index(min(bucket_lengths)) + bucket_indices[shortest_bucket_idx].append(idx) + + # Update `bucket_lengths` --> set length to infinity if at capacity! + bucket_lengths[shortest_bucket_idx] += idx2lengths[idx] + if len(bucket_indices[shortest_bucket_idx]) == n_examples_per_bucket: + bucket_lengths[shortest_bucket_idx] = float("inf") + + return bucket_indices + + def get_modality_and_length_grouped_indices(self, generator: torch.Generator) -> List[int]: + """ + Returns a list of indices so that each slice of `global_batch_size` consecutive indices corresponds to elements + of the same modality with each sub-sequence of `per_replica_batch_size` (the batch size each unique device sees + during distributed training) is roughly grouped by sequence length (for training efficiency). + """ + multimodal_indices, multimodal_lengths = zip( + *[(idx, length) for idx, (is_multimodal, length) in enumerate(self.modality_lengths) if is_multimodal] + ) + + # Handle Special Case --> no "unimodal" inputs + unimodal_split = [ + (idx, length) for idx, (is_multimodal, length) in enumerate(self.modality_lengths) if not is_multimodal + ] + if len(unimodal_split) == 0: + unimodal_indices, unimodal_lengths = [], [] + else: + unimodal_indices, unimodal_lengths = zip(*unimodal_split) + + # Create a permutation of indices for each of the multimodal and unimodal data + mm_shuffled_idxs = torch.randperm(len(multimodal_indices), generator=generator) + uni_shuffled_idxs = torch.randperm(len(unimodal_indices), generator=generator) + + # We're going to be running sorting/grouping relative to `self.global_batch_size` and `self.num_replicas` + g_bsz = self.global_batch_size + + # Break each of the permutations into batches of length `global_batch_size` + mm_batch_idxs = [mm_shuffled_idxs[i : i + g_bsz].tolist() for i in range(0, len(mm_shuffled_idxs), g_bsz)] + uni_batch_idxs = [uni_shuffled_idxs[i : i + g_bsz].tolist() for i in range(0, len(uni_shuffled_idxs), g_bsz)] + + # If "last" batch is not of length `g_bsz` --> PAD by stealing indices from the first batch! + if len(mm_batch_idxs[-1]) < g_bsz: + n_missing = g_bsz - len(mm_batch_idxs[-1]) + mm_batch_idxs[-1].extend(mm_batch_idxs[0][:n_missing]) + + if len(uni_batch_idxs) > 0 and len(uni_batch_idxs[-1]) < g_bsz: + n_missing = g_bsz - len(uni_batch_idxs[-1]) + uni_batch_idxs[-1].extend(uni_batch_idxs[0][:n_missing]) + + # Now we're going to sort each batch by length --> this will aid in grouping by length by rank (efficiency!) + mm_sorted_batch_idxs = [sorted(b, key=lambda i: multimodal_lengths[i], reverse=True) for b in mm_batch_idxs] + uni_sorted_batch_idxs = [sorted(b, key=lambda i: unimodal_lengths[i], reverse=True) for b in uni_batch_idxs] + + # IMPORTANT :: At this point, for each modality, we have a list of "batches" (made up of indices) where indices + # are sorted by example sequence length *within* each batch. To make this more concrete, consider the following: + # => World Size (`num_replicas`) = 2 + # => Global Batch Size (`g_bsz`) = 4 + # => `multimodal_indices` = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11] + # `multimodal_lengths` = [20, 90, 21, 22, 91, 18, 89, 19, 93, 88, 92, 17] + # + # At this point in the code, `mm_sorted_batch_idxs` might then look like the following (length in parenthesis): + # => `mm_sorted_batch_idxs`: [ + # [4 (91), 3 (21), 0 (20), 5 (18)] => Batch 1 + # [6 (89), 9 (88), 7 (19), 11 (17)] => Batch 2 + # [8 (93), 10 (92), 1 (90), 2 (21)] => Batch 3 + # ] + # + # In practice: `g_bsz` is large (= 128), and for contiguous mini-batch "slices", length variance is low. + + # PROBLEM :: We want to split these "global batches" into equal-sized pieces, so that each "replica" (GPU) + # sees a "mini-batch" of roughly the same sequence lengths; this is super useful for efficient training. + + # HOWEVER :: The default "access pattern" for splitting a large batch into mini-batches by a DistributedSampler + # is akin to a "take every k" where `k` is equal to the number of replicas (GPUs) you're training on. Or, in + # Python notation --> `rank_k_indices = flatten(mm_sorted_batch_idxs)[k::num_replicas]. + # + # Naively translating this our example means each GPU (in our world of 2 total) sees the following indices + # (grouped by "mini-batch" = `g_bsz / num_replicas` = 2 for convenience): + # => `rank_0_indices`: [ [4 (91), 0 (20)] =>> [6 (89), 7 (19)] =>> [8 (93), 1 (90)] ] + # => `rank_1_indices`: [ [3 (21), 5 (18)] =>> [9 (88), 11 (17)] =>> [10 (92), 2 (21)] ] + # + # We get lucky sometimes, but for the most part, each "mini-batch" has VASTLY DIFFERENT lengths! Bad! + + # FIX :: If we "undo" the access pattern with the following code and re-arrange the way we allocate batches + # inside the __iter__ method below, we can allocate indices appropriately. Running the following code gives us + # the following indices (grouped by "mini-batch" again for convenience): + # => `rank_0_indices`: [ [4 (91), 3 (21)] =>> [6 (89), 9 (88)] =>> [8 (93), 10 (92)] ] + # => `rank_1_indices`: [ [5 (18), 0 (20)] =>> [11 (17), 7 (19)] =>> [2 (21), 1 (90)] ] + # + # Much better! As `g_bsz` and `dataset` grow, we're more often than not getting *decent* groupings! + mm_length_bucketed_idxs = [ + self.reindex_batch(batch, multimodal_lengths, self.num_replicas) for batch in mm_sorted_batch_idxs + ] + uni_length_bucketed_idxs = [ + self.reindex_batch(batch, unimodal_lengths, self.num_replicas) for batch in uni_sorted_batch_idxs + ] + + # Note :: Because of the initial `randperm` --> we're indexing both sets from 0 (we're clobbering the range) + # => Flatten indices --> index into original `{modality}_indices` then re-batch! + mm_output_idxs = [idx for batch in mm_length_bucketed_idxs for bucket in batch for idx in bucket] + mm_reindexed = [multimodal_indices[idx] for idx in mm_output_idxs] + mm_batches = [mm_reindexed[i : i + g_bsz] for i in range(0, len(mm_reindexed), g_bsz)] + + uni_output_idxs = [idx for batch in uni_length_bucketed_idxs for bucket in batch for idx in bucket] + uni_reindexed = [unimodal_indices[idx] for idx in uni_output_idxs] + uni_batches = [uni_reindexed[i : i + g_bsz] for i in range(0, len(uni_reindexed), g_bsz)] + + # Finally, randomly permute the multimodal & unimodal batches, merging into a single stream of indices + merged_batches = mm_batches + uni_batches + merge_idxs = torch.randperm(len(merged_batches), generator=generator) + all_batches = [merged_batches[idx] for idx in merge_idxs] + + # [Quality of Life] Shift "max length" batch to index 0 --> if we OOM, it happens immediately! + all_lengths = [length + ((_n_patches := 24 * 24) if is_mm else 0) for is_mm, length in self.modality_lengths] + all_batches_max_lengths = [] + for batch in all_batches: + all_batches_max_lengths.append(max([all_lengths[idx] for idx in batch])) + + # Identify Batch with "max length" --> Swap into Index 0 + longest_batch_idx = np.argmax(all_batches_max_lengths) + all_batches[0], all_batches[longest_batch_idx] = all_batches[longest_batch_idx], all_batches[0] + + # Flatten & Return all Indices + indices = [idx for batch in all_batches for idx in batch] + return indices + + def __iter__(self) -> Iterator: + """Deterministically shuffle, then split indices by modality and length.""" + g = torch.Generator() + g.manual_seed(self.seed + self.epoch) + indices = self.get_modality_and_length_grouped_indices(g) + assert len(set(indices)) == len(self.modality_lengths) == len(self.dataset), "Oops!" + assert (len(indices) % self.global_batch_size == 0) and (len(indices) % self.num_replicas) == 0, "Oops" + + # Note :: We compute per-replica batch size as a function of `global_batch` and `num_replicas` to ensure that + # gradient accumulation doesn't affect what indices are assigned a given rank. + per_replica_batch_size = self.global_batch_size // self.num_replicas + + # Tensorize & Unravel --> rather than yielding via a `take_every` --> we want to partition a global batch + # across replicas by assigning each a contiguous sub-sequence. + indices_t = torch.as_tensor(indices) + per_replica_batch_indices_t = indices_t.reshape(-1, per_replica_batch_size) + replica_indices_t = per_replica_batch_indices_t[self.rank :: self.num_replicas] + + replica_indices = replica_indices_t.flatten().tolist() + return iter(replica_indices) + + def __len__(self) -> int: + return self.num_samples + + def set_epoch(self, epoch: int) -> None: + """To be called *between* epochs, prior to DataLoader instantiation; ensures random order across epochs.""" + self.epoch = epoch diff --git a/VLA-Adapter-UAV/prismatic/util/data_utils.py b/VLA-Adapter-UAV/prismatic/util/data_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..4871760c5751f949ce1adb31353eee3c8c84407c --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/util/data_utils.py @@ -0,0 +1,195 @@ +""" +data_utils.py + +General utilities and classes for facilitating data loading and collation. +""" + +from dataclasses import dataclass +from typing import Callable, Dict, Sequence, Tuple + +import numpy as np +import torch +from torch.nn.utils.rnn import pad_sequence + +# HuggingFace Default / LLaMa-2 IGNORE_INDEX (for labels) +IGNORE_INDEX = -100 + + +def tree_map(fn: Callable, tree: dict) -> dict: + """Maps a function over a nested dictionary.""" + return {k: tree_map(fn, v) if isinstance(v, dict) else fn(v) for k, v in tree.items()} + + +def tree_map_with_key(fn: Callable, tree: dict, keys: Sequence = ()) -> dict: + """Maps a function over a nested dictionary.""" + return { + k: tree_map_with_key(fn, v, (*keys, k)) if isinstance(v, dict) else fn((*keys, k), v) for k, v in tree.items() + } + + +@dataclass +class PaddedCollatorForLanguageModeling: + model_max_length: int + pad_token_id: int + default_image_resolution: Tuple[int, int, int] + padding_side: str = "right" + pixel_values_dtype: torch.dtype = torch.float32 + + def __post_init__(self) -> None: + self.dummy_pixel_values = torch.zeros(self.default_image_resolution, dtype=self.pixel_values_dtype) + + def __call__(self, instances: Sequence[Dict[str, torch.Tensor]]) -> Dict[str, torch.Tensor]: + input_ids, labels = tuple([instance[key] for instance in instances] for key in ("input_ids", "labels")) + pixel_values = [instance["pixel_values"] for instance in instances] + + # For now, we only support Tokenizers with `padding_side = "right"` during Training (but plan to extend!) + # => Handle padding via RNN Utils => `pad_sequence` + input_ids = pad_sequence(input_ids, batch_first=True, padding_value=self.pad_token_id) + labels = pad_sequence(labels, batch_first=True, padding_value=IGNORE_INDEX) + + # Truncate (if necessary) + input_ids, labels = input_ids[:, : self.model_max_length], labels[:, : self.model_max_length] + + # Get `attention_mask` by checking for `pad_token_id` + attention_mask = input_ids.ne(self.pad_token_id) + + # === Handle "unimodal" (language-only) vs. "multimodal" === + + # Some examples are "language-only" --> build a Tensor of `multimodal_indices` that we can slice into easily + multimodal_indices = torch.tensor( + [idx for idx in range(len(pixel_values)) if pixel_values[idx] is not None], dtype=torch.long + ) + + # Stack all `pixel_values` --> depending on type (torch.Tensor, or Dict[str, torch.Tensor]) & presence of None + if len(multimodal_indices) == 0: + pixel_values = torch.stack([self.dummy_pixel_values for _ in range(len(input_ids))]) + elif isinstance(pv_example := pixel_values[multimodal_indices[0]], torch.Tensor): + pixel_values = torch.stack( + [ + pixel_values[idx] if idx in multimodal_indices else self.dummy_pixel_values + for idx in range(len(input_ids)) + ] + ) + elif isinstance(pv_example, dict): + pixel_values = { + k: torch.stack( + [ + pixel_values[idx][k] if idx in multimodal_indices else self.dummy_pixel_values + for idx in range(len(input_ids)) + ] + ) + for k in pv_example + } + else: + raise ValueError(f"Unsupported `pixel_values` type = {type(pixel_values)}") + + return dict( + pixel_values=pixel_values, + input_ids=input_ids, + attention_mask=attention_mask, + labels=labels, + multimodal_indices=multimodal_indices, + ) + + +@dataclass +class PaddedCollatorForActionPrediction: + model_max_length: int + pad_token_id: int + padding_side: str = "right" + pixel_values_dtype: torch.dtype = torch.float32 + + def __call__(self, instances: Sequence[Dict[str, torch.Tensor]]) -> Dict[str, torch.Tensor]: + input_ids, labels = tuple([instance[key] for instance in instances] for key in ("input_ids", "labels")) + pixel_values = [instance["pixel_values"] for instance in instances] + if "dataset_name" in instances[0]: + dataset_names = [instance["dataset_name"] for instance in instances] + else: + dataset_names = None + cot_input_ids = [instance["cot_input_ids"] for instance in instances] if "cot_input_ids" in instances[0] else None + cot_labels = [instance["cot_labels"] for instance in instances] if "cot_labels" in instances[0] else None + first_input_ids = [instance["first_input_ids"] for instance in instances] if "first_input_ids" in instances[0] else None + + # For now, we only support Tokenizers with `padding_side = "right"` during training + # => Handle padding via RNN Utils => `pad_sequence` + assert self.padding_side == "right", f"Invalid Tokenizer `{self.padding_side = }`" + input_ids = pad_sequence(input_ids, batch_first=True, padding_value=self.pad_token_id) + labels = pad_sequence(labels, batch_first=True, padding_value=IGNORE_INDEX) + + + if self.padding_side == "left": + def left_pad_sequence(sequences, padding_value): + max_len = max(seq.size(0) for seq in sequences) + padded = [] + for seq in sequences: + pad_len = max_len - seq.size(0) + pad = torch.full((pad_len,), padding_value, dtype=seq.dtype) + padded_seq = torch.cat([pad, seq], dim=0) + padded.append(padded_seq) + return torch.stack(padded) + + input_ids = left_pad_sequence(input_ids, self.pad_token_id) + labels = left_pad_sequence(labels, IGNORE_INDEX) + else: + input_ids = pad_sequence(input_ids, batch_first=True, padding_value=self.pad_token_id) + labels = pad_sequence(labels, batch_first=True, padding_value=IGNORE_INDEX) + + + # Truncate (if necessary) + input_ids, labels = input_ids[:, : self.model_max_length], labels[:, : self.model_max_length] + + # Get `attention_mask` by checking for `pad_token_id` + attention_mask = input_ids.ne(self.pad_token_id) + + # [Contract] For VLA Training =>> No "Unimodal" Data! + assert all([pv is not None for pv in pixel_values]), "Invalid VLA Example with `pixel_values = None`!" + + # Stack all `pixel_values` --> depending on type is torch.Tensor or Dict[str, torch.Tensor] + if isinstance(pixel_values[0], torch.Tensor): + if "pixel_values_wrist" in instances[0]: + pixel_values_wrist = [instance["pixel_values_wrist"] for instance in instances] + pixel_values = torch.cat((torch.stack(pixel_values), torch.stack(pixel_values_wrist)), dim=1) + else: + pixel_values = torch.stack(pixel_values) + else: + raise ValueError(f"Unsupported `pixel_values` type = {type(pixel_values)}") + + # Stack all actions + actions = [torch.from_numpy(np.copy(instance["actions"])) for instance in instances] + actions = torch.stack(actions) + + # Stack proprio + if "proprio" in instances[0]: + proprio = [instance["proprio"] for instance in instances] + proprio = torch.Tensor(np.squeeze(np.stack(proprio))) + else: + proprio = None + + output = dict( + pixel_values=pixel_values, + proprio=proprio, + input_ids=input_ids, + attention_mask=attention_mask, + labels=labels, + actions=actions, + ) + if first_input_ids is not None: + first_input_ids = pad_sequence(first_input_ids, batch_first=True, padding_value=self.pad_token_id) + output["first_input_ids"] = first_input_ids + output["first_attention_mask"] = first_input_ids.ne(self.pad_token_id) + output["first_pixel_values"] = torch.stack([instance["first_pixel_values"] for instance in instances]) + output["initial_proprio"] = torch.as_tensor( + np.stack([instance["initial_proprio"] for instance in instances]), dtype=torch.float32 + ) + output["is_initial_frame"] = torch.as_tensor( + [instance["is_initial_frame"] for instance in instances], dtype=torch.bool + ) + output["cot_supervision"] = torch.as_tensor( + [instance["cot_supervision"] for instance in instances], dtype=torch.bool + ) + if dataset_names is not None: + output["dataset_names"] = dataset_names + if cot_input_ids is not None: + output["cot_input_ids"] = pad_sequence(cot_input_ids, batch_first=True, padding_value=self.pad_token_id) + output["cot_labels"] = pad_sequence(cot_labels, batch_first=True, padding_value=IGNORE_INDEX) + return output diff --git a/VLA-Adapter-UAV/prismatic/util/nn_utils.py b/VLA-Adapter-UAV/prismatic/util/nn_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..2b3f6150f2914fde0b1cb80bfb3ad981ad9181ed --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/util/nn_utils.py @@ -0,0 +1,53 @@ +""" +nn_utils.py + +Utility functions and PyTorch submodule definitions. +""" + +import torch +import torch.nn as nn + + +# === Definitions for Various Projection Modules, with Signature :: [..., in_dim] --> [..., out_dim] === +class LinearProjector(nn.Module): + def __init__(self, vision_dim: int, llm_dim: int) -> None: + super().__init__() + self.projector = nn.Linear(vision_dim, llm_dim, bias=True) + + def forward(self, img_patches: torch.Tensor) -> torch.Tensor: + return self.projector(img_patches) + + +class MLPProjector(nn.Module): + def __init__(self, vision_dim: int, llm_dim: int, mlp_type: str = "gelu-mlp") -> None: + super().__init__() + if mlp_type == "gelu-mlp": + self.projector = nn.Sequential( + nn.Linear(vision_dim, llm_dim, bias=True), + nn.GELU(), + nn.Linear(llm_dim, llm_dim, bias=True), + ) + else: + raise ValueError(f"Projector with `{mlp_type = }` is not supported!") + + def forward(self, img_patches: torch.Tensor) -> torch.Tensor: + return self.projector(img_patches) + + +class FusedMLPProjector(nn.Module): + def __init__(self, fused_vision_dim: int, llm_dim: int, mlp_type: str = "fused-gelu-mlp") -> None: + super().__init__() + self.initial_projection_dim = fused_vision_dim * 4 + if mlp_type == "fused-gelu-mlp": + self.projector = nn.Sequential( + nn.Linear(fused_vision_dim, self.initial_projection_dim, bias=True), + nn.GELU(), + nn.Linear(self.initial_projection_dim, llm_dim, bias=True), + nn.GELU(), + nn.Linear(llm_dim, llm_dim, bias=True), + ) + else: + raise ValueError(f"Fused Projector with `{mlp_type = }` is not supported!") + + def forward(self, fused_img_patches: torch.Tensor) -> torch.Tensor: + return self.projector(fused_img_patches) diff --git a/VLA-Adapter-UAV/prismatic/util/torch_utils.py b/VLA-Adapter-UAV/prismatic/util/torch_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..e1ee4f54a1181acbcd84e054337251976a071f19 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/util/torch_utils.py @@ -0,0 +1,119 @@ +""" +torch_utils.py + +General utilities for randomness, mixed precision training, and miscellaneous checks in PyTorch. + +Random `set_global_seed` functionality is taken directly from PyTorch-Lighting: + > Ref: https://github.com/PyTorchLightning/pytorch-lightning/blob/master/pytorch_lightning/utilities/seed.py + +This is pretty important to get right if we're every randomly generating our masks (or prefix dropout) inside our +Dataset __getitem__() with multiple workers... if not handled properly, we will get repeated augmentations anytime +we inject randomness from non-PyTorch sources (e.g., numpy, random)! + > Ref: https://tanelp.github.io/posts/a-bug-that-plagues-thousands-of-open-source-ml-projects/ + +Terminology + -> World Size :: Total number of processes distributed over (# nodes x # devices) -- assumed homogenous! + -> Rank :: Integer index of current process in the total world size + -> Local Rank :: Local index on given node in [0, Devices per Node] +""" + +import os +import random +from typing import Callable, Optional + +import numpy as np +import torch + +# === Randomness === + + +def set_global_seed(seed: int, get_worker_init_fn: bool = False) -> Optional[Callable[[int], None]]: + """Sets seed for all randomness libraries (mostly random, numpy, torch) and produces a `worker_init_fn`""" + assert np.iinfo(np.uint32).min < seed < np.iinfo(np.uint32).max, "Seed outside the np.uint32 bounds!" + + # Set Seed as an Environment Variable + os.environ["EXPERIMENT_GLOBAL_SEED"] = str(seed) + random.seed(seed) + np.random.seed(seed) + torch.manual_seed(seed) + + return worker_init_function if get_worker_init_fn else None + + +def worker_init_function(worker_id: int) -> None: + """ + Borrowed directly from PyTorch-Lightning; inspired by this issue comment in the PyTorch repo: + > Ref: https://github.com/pytorch/pytorch/issues/5059#issuecomment-817392562 + + Intuition: You can think of the seed sequence spawn function as a "janky" torch.Generator() or jax.PRNGKey that + you can run iterative splitting on to get new (predictable) randomness. + + :param worker_id: Identifier for the given worker [0, num_workers) for the Dataloader in question. + """ + # Get current `rank` (if running distributed) and `process_seed` + global_rank, process_seed = int(os.environ["LOCAL_RANK"]), torch.initial_seed() + + # Back out the "base" (original) seed - the per-worker seed is set in PyTorch: + # > https://pytorch.org/docs/stable/data.html#data-loading-randomness + base_seed = process_seed - worker_id + + # "Magic" code --> basically creates a seed sequence that mixes different "sources" and seeds every library... + seed_seq = np.random.SeedSequence([base_seed, worker_id, global_rank]) + + # Use 128 bits (4 x 32-bit words) to represent seed --> generate_state(k) produces a `k` element array! + np.random.seed(seed_seq.generate_state(4)) + + # Spawn distinct child sequences for PyTorch (reseed) and stdlib random + torch_seed_seq, random_seed_seq = seed_seq.spawn(2) + + # Torch Manual seed takes 64 bits (so just specify a dtype of uint64 + torch.manual_seed(torch_seed_seq.generate_state(1, dtype=np.uint64)[0]) + + # Use 128 Bits for `random`, but express as integer instead of as an array + random_seed = (random_seed_seq.generate_state(2, dtype=np.uint64).astype(list) * [1 << 64, 1]).sum() + random.seed(random_seed) + + +# === BFloat16 Support === + + +def check_bloat16_supported() -> bool: + try: + import packaging.version + import torch.cuda.nccl as nccl + import torch.distributed as dist + + return ( + (torch.version.cuda is not None) + and torch.cuda.is_bf16_supported() + and (packaging.version.parse(torch.version.cuda).release >= (11, 0)) + and dist.is_nccl_available() + and (nccl.version() >= (2, 10)) + ) + + except Exception: + return False + + +# === Other helpers === + + +def sequence_combine_call_split(sequence: torch.Tensor, fn: Callable): + # image sequence must be (B, T, ...) + B, T = sequence.shape[:2] + flat_sequence = sequence.reshape([-1, *sequence.shape[2:]]) + # outputs will be (B*T, ...) + flat_outputs = fn(flat_sequence) + return flat_outputs.reshape([B, T, *flat_outputs.shape[1:]]) + + +def merge_two_dims(tensor: torch.Tensor, start_dim: int = 0): + # wrap around + if start_dim < 0: + start_dim = len(tensor.shape) + start_dim + assert start_dim >= 0 + # check the next dimension is also within bounds + assert len(tensor.shape) > start_dim + 1, "Start dimension for merge is too big!" + + # merge the dimension + return tensor.reshape([*tensor.shape[:start_dim], -1, *tensor.shape[start_dim + 2 :]]) \ No newline at end of file diff --git a/VLA-Adapter-UAV/prismatic/vla/__init__.py b/VLA-Adapter-UAV/prismatic/vla/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..5d2af7062f3a1c94d41b4734c89358b416862999 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/__init__.py @@ -0,0 +1 @@ +from .materialize import get_vla_dataset_and_collator diff --git a/VLA-Adapter-UAV/prismatic/vla/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/vla/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..7bbb11711470c66c8abd80180584e87e3f2cf33a Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/vla/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/vla/__pycache__/action_tokenizer.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/vla/__pycache__/action_tokenizer.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..48347d4bb59ec46906f911db906efd05767e9e27 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/vla/__pycache__/action_tokenizer.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/vla/__pycache__/constants.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/vla/__pycache__/constants.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..7835ad472df03987a30157fbd3b53db90b8cd6d1 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/vla/__pycache__/constants.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/vla/__pycache__/constants.cpython-312.pyc b/VLA-Adapter-UAV/prismatic/vla/__pycache__/constants.cpython-312.pyc new file mode 100644 index 0000000000000000000000000000000000000000..e9897e2a88ec81f336faf8427a2bd718622754e6 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/vla/__pycache__/constants.cpython-312.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/vla/__pycache__/materialize.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/vla/__pycache__/materialize.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..e62ef073e69ced65b3dd14fa0908214b1db83562 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/vla/__pycache__/materialize.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/vla/action_tokenizer.py b/VLA-Adapter-UAV/prismatic/vla/action_tokenizer.py new file mode 100644 index 0000000000000000000000000000000000000000..7b28637520968081382a1f997cd2a1106a27a1c2 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/action_tokenizer.py @@ -0,0 +1,213 @@ +""" +action_tokenizer.py + +Extension class; wraps base LLM/VLM tokenizer with logic to discretize and tokenize continuous robot actions. +""" + +import json +from functools import partial +from pathlib import Path +from typing import List, Union + +import numpy as np +import torch +from transformers import PreTrainedTokenizerBase +from transformers.models.qwen2.tokenization_qwen2_fast import Qwen2TokenizerFast + +from prismatic.overwatch.overwatch import initialize_overwatch + +overwatch = initialize_overwatch(__name__) + + +class ActionTokenizer: + def __init__( + self, + tokenizer: PreTrainedTokenizerBase, + bins: int = 256, + min_action: int = -1, + max_action: int = 1, + use_extra: bool = False, + ) -> None: + """ + Discretizes continuous robot actions into N bins per dimension and maps to the least used tokens. + + NOTE =>> by default, assumes a BPE-style tokenizer akin to the LlamaTokenizer, where *the least used tokens* + appear at the end of the vocabulary! + + :param tokenizer: Base LLM/VLM tokenizer to extend. + :param bins: Number of bins for each continuous value; we'll adopt a uniform binning strategy. + :param min_action: Minimum action value (for clipping, setting lower bound on bin interval). + :param max_action: Maximum action value (for clipping, setting upper bound on bin interval). + :param use_extra: Use the extra tokens (not just the last ones), only implemented for Qwen2 + """ + self.tokenizer, self.n_bins, self.min_action, self.max_action = tokenizer, bins, min_action, max_action + + # Create Uniform Bins + Compute Bin Centers + self.bins = np.linspace(min_action, max_action, self.n_bins) + self.bin_centers = (self.bins[:-1] + self.bins[1:]) / 2.0 + + self.tokenizer_len = self.tokenizer.vocab_size + if isinstance(tokenizer, Qwen2TokenizerFast) and use_extra: + self.tokenizer_len = len(self.tokenizer) + elif use_extra: + raise NotImplementedError("Cannot use extra tokens for this tokenizer!") + + # [Contract] Set "action_token_begin_idx" based on `self.tokenizer.vocab_size - (self.n_bins + 1)` + # =>> Assumes we're always overwriting the final `n_bins` tokens of the vocabulary! + self.action_token_begin_idx: int = int(self.tokenizer_len - (self.n_bins + 1)) + self.action_token_end_idx: int = int(self.tokenizer_len) + + def __call__(self, action: np.ndarray, use_minivlm) -> Union[str, List[str]]: + """Clip & bin actions to *the last `n_bins` tokens* of the vocabulary (e.g., tokenizer.vocab[-256:]).""" + action = np.clip(action, a_min=float(self.min_action), a_max=float(self.max_action)) + discretized_action = np.digitize(action, self.bins) + + # import pdb; pdb.set_trace() + if use_minivlm: + return (self.tokenizer_len - discretized_action).tolist() + + else: + # Handle single element vs. batch + if len(discretized_action.shape) <= 1: + return self.tokenizer.decode(list(self.tokenizer_len - discretized_action)) + else: + return self.tokenizer.batch_decode((self.tokenizer_len - discretized_action).tolist()) + + def decode_token_ids_to_actions(self, action_token_ids: np.ndarray) -> np.ndarray: + """ + Returns continuous actions for discrete action token IDs. + + NOTE =>> Because of the way the actions are discretized w.r.t. the bins (and not the bin centers), the + digitization returns bin indices between [1, # bins], inclusive, when there are actually only + (# bins - 1) bin intervals. + + Therefore, if the digitization returns the last possible index, we map this to the last bin interval. + + EXAMPLE =>> Let's say self._bins has 256 values. Then self._bin_centers has 255 values. Digitization returns + indices between [1, 256]. We subtract 1 from all indices so that they are between [0, 255]. There + is still one index (i==255) that would cause an out-of-bounds error if used to index into + self._bin_centers. Therefore, if i==255, we subtract 1 from it so that it just becomes the index of + the last bin center. We implement this simply via clipping between [0, 255 - 1]. + """ + discretized_actions = self.tokenizer_len - action_token_ids + discretized_actions = np.clip(discretized_actions - 1, a_min=0, a_max=self.bin_centers.shape[0] - 1) + + return self.bin_centers[discretized_actions] + + @property + def vocab_size(self) -> int: + return self.n_bins + + @property + def required_future_horizon(self) -> int: + # the number of future action horizon elements + return 0 + + +class VQActionTokenizer(ActionTokenizer): + """Loads a torch model (VqVaE) that turns""" + + def __init__( + self, + tokenizer: PreTrainedTokenizerBase, + vq_vae_path="", + device="cpu", + use_extra: bool = False, + ): + self.tokenizer = tokenizer + self.device = device + + ### VQ VAE loading ### + + # NOTE: if this errors, you need to install vqvae, source: https://github.com/jayLEE0301/vq_bet_official + from vqvae.vqvae import VqVae + + self.vq_path = Path(vq_vae_path) + assert self.vq_path.exists(), f"Missing VQ VAE path: {self.vq_path}" + vq_model_path = self.vq_path / "checkpoints" / "model.pt" + vq_config_path = self.vq_path / "config.json" + assert vq_model_path.exists(), f"Missing VQ checkpoint path: {vq_model_path}" + assert vq_config_path.exists(), f"Missing VQ config path: {vq_config_path}" + with open(vq_config_path, "r") as f: + vq_config = dict(json.load(f)) + # set the load checkpoint + vq_config["load_dir"] = vq_model_path + vq_config["eval"] = True + vq_config["device"] = self.device + overwatch.info(f"Loading VQ VAE for Action Tokenization from {vq_config_path}...") + # instantiate the vqvae and load + self.vq_vae = VqVae(**vq_config) + overwatch.info(f"Found VQ VAE parameters: \n{self.vq_vae}") + ### TOKENIZATION arguments ### + # number of bins to assign for each "action" dimension + self.n_bins = self.vq_vae.vqvae_n_embed + + self.tokenizer_len = self.tokenizer.vocab_size + if isinstance(tokenizer, Qwen2TokenizerFast) and use_extra: + self.tokenizer_len = len(self.tokenizer) + elif use_extra: + raise NotImplementedError("Cannot use extra tokens for this tokenizer!") + + # [Contract] Set "action_token_begin_idx" based on `self.tokenizer.vocab_size - (self.n_bins + 1)` + # =>> Assumes we're always overwriting the final `n_bins` tokens of the vocabulary! + self.action_token_begin_idx: int = int(self.tokenizer_len - (self.n_bins + 1)) + self.action_token_end_idx: int = int(self.tokenizer_len) + + def __call__(self, action: np.ndarray) -> Union[str, List[str]]: + # make sure shape matches (1 x T x A) + action = torch.from_numpy(action).to(self.device).reshape((1, self.vq_vae.input_dim_h, self.vq_vae.input_dim_w)) + # action is (1 x T x A), codes will be (1 x GROUPS) each between 0 and BINS-1 + _, vq_code = self.vq_vae.get_code(action) + assert torch.all(vq_code >= 0) and torch.all(vq_code < self.n_bins) + + # vq_codes will be between [0, n_bins-1], so we subtract them from vocab_size - 1 + # for example, code 0 maps to vocab_size - 1 + return self.tokenizer.decode(list(self.tokenizer_len - 1 - vq_code[0].numpy())) + + def decode_token_ids_to_actions(self, action_token_ids: np.ndarray) -> np.ndarray: + # first convert from tokens to bins (inverse of what happens in __call__) + action_token_ids = self.tokenizer_len - 1 - action_token_ids + initial_shape = action_token_ids.shape + # these directly correspond to the bins + action_token_ids = np.clip(action_token_ids, 0, self.n_bins - 1) + action_token_ids = torch.from_numpy(action_token_ids).to(self.device).reshape(-1, self.vq_vae.vqvae_groups) + assert torch.all(action_token_ids >= 0) and torch.all(action_token_ids < self.n_bins) + # (1 x G) --> (1 x Z_DIM) + latent = self.vq_vae.draw_code_forward(action_token_ids) + # --> (1 x A) --> (A,) + ret_action = self.vq_vae.get_action_from_latent(latent) + + # reshape to be a flat array if the input was a single action + if action_token_ids.shape[0] == 1 and len(initial_shape) == 1: + return ret_action[0, 0] + + # get the first horizon element of the returned actions (VQ might return an action horizon) + # TODO parameterize this + return ret_action[:, 0] + + @property + def required_future_horizon(self) -> int: + # the number of future action horizon elements + return self.vq_vae.input_dim_h - 1 + + +ACTION_TOKENIZERS = { + "action_tokenizer": ActionTokenizer, + "extra_action_tokenizer": partial(ActionTokenizer, use_extra=True), + # libero + "libero_vq_action_tokenizer": partial( + VQActionTokenizer, vq_vae_path="vq/pretrain_vq+mx-libero_90+fach-7+ng-7+nemb-128+nlatent-512" + ), + "libero_vq_extra_action_tokenizer": partial( + VQActionTokenizer, vq_vae_path="vq/pretrain_vq+mx-libero_90+fach-7+ng-7+nemb-128+nlatent-512", use_extra=True + ), + "libero_vq_h0_extra_action_tokenizer": partial( + VQActionTokenizer, vq_vae_path="vq/pretrain_vq+mx-libero_90+fach-0+ng-7+nemb-128+nlatent-512", use_extra=True + ), + # bridge + "bridge_vq_extra_action_tokenizer": partial( + VQActionTokenizer, + vq_vae_path="vq/pretrain_modvq+mx-bridge_dataset+fach-7+ng-7+nemb-256+nlatent-512", + use_extra=True, + ), +} diff --git a/VLA-Adapter-UAV/prismatic/vla/constants.py b/VLA-Adapter-UAV/prismatic/vla/constants.py new file mode 100644 index 0000000000000000000000000000000000000000..05d86317f1e6fb8d741857ed846cc785a15b1785 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/constants.py @@ -0,0 +1,110 @@ +""" +Important constants for VLA training and evaluation. + +Attempts to automatically identify the correct constants to set based on the Python command used to launch +training or evaluation. If it is unclear, defaults to using the LIBERO simulation benchmark constants. +""" +import sys +from enum import Enum + +# Qwen2.5-0.5B token constants +IGNORE_INDEX = -100 +# ACTION_TOKEN_BEGIN_IDX = 31743 +ACTION_TOKEN_BEGIN_IDX = 151386 +STOP_INDEX = 2 # '' +NUM_TOKENS = 64 + + +# Defines supported normalization schemes for action and proprioceptive state. +class NormalizationType(str, Enum): + # fmt: off + NORMAL = "normal" # Normalize to Mean = 0, Stdev = 1 + BOUNDS = "bounds" # Normalize to Interval = [-1, 1] + BOUNDS_Q99 = "bounds_q99" # Normalize [quantile_01, ..., quantile_99] --> [-1, ..., 1] + # fmt: on + + +# Define constants for each robot platform +LIBERO_CONSTANTS = { + "NUM_ACTIONS_CHUNK": 8, + "ACTION_DIM": 7, + "PROPRIO_DIM": 8, + "ACTION_PROPRIO_NORMALIZATION_TYPE": NormalizationType.BOUNDS_Q99, +} + +CALVIN_CONSTANTS = { + "NUM_ACTIONS_CHUNK": 8, + "ACTION_DIM": 7, + "PROPRIO_DIM": 8, + "ACTION_PROPRIO_NORMALIZATION_TYPE": NormalizationType.BOUNDS_Q99, +} + +ALOHA_CONSTANTS = { + "NUM_ACTIONS_CHUNK": 25, + "ACTION_DIM": 14, + "PROPRIO_DIM": 14, + "ACTION_PROPRIO_NORMALIZATION_TYPE": NormalizationType.BOUNDS, +} + +BRIDGE_CONSTANTS = { + "NUM_ACTIONS_CHUNK": 5, + "ACTION_DIM": 7, + "PROPRIO_DIM": 7, + "ACTION_PROPRIO_NORMALIZATION_TYPE": NormalizationType.BOUNDS_Q99, +} + +UAV_CONSTANTS = { + "NUM_ACTIONS_CHUNK": 4, + "ACTION_DIM": 4, + "PROPRIO_DIM": 4, + "ACTION_PROPRIO_NORMALIZATION_TYPE": NormalizationType.BOUNDS_Q99, +} + + +# Function to detect robot platform from command line arguments +def detect_robot_platform(): + cmd_args = " ".join(sys.argv).lower() + + if "libero" in cmd_args: + return "LIBERO" + elif "aloha" in cmd_args: + return "ALOHA" + elif "bridge" in cmd_args: + return "BRIDGE" + elif "calvin" in cmd_args: + return "CALVIN" + elif "uav" in cmd_args: + return "UAV" + else: + # Default to LIBERO if unclear + return "LIBERO" + + +# Determine which robot platform to use +ROBOT_PLATFORM = detect_robot_platform() + +# Set the appropriate constants based on the detected platform +if ROBOT_PLATFORM == "LIBERO": + constants = LIBERO_CONSTANTS +elif ROBOT_PLATFORM == "ALOHA": + constants = ALOHA_CONSTANTS +elif ROBOT_PLATFORM == "BRIDGE": + constants = BRIDGE_CONSTANTS +elif ROBOT_PLATFORM == "CALVIN": + constants = CALVIN_CONSTANTS +elif ROBOT_PLATFORM == "UAV": + constants = UAV_CONSTANTS + +# Assign constants to global variables +NUM_ACTIONS_CHUNK = constants["NUM_ACTIONS_CHUNK"] +ACTION_DIM = constants["ACTION_DIM"] +PROPRIO_DIM = constants["PROPRIO_DIM"] +ACTION_PROPRIO_NORMALIZATION_TYPE = constants["ACTION_PROPRIO_NORMALIZATION_TYPE"] + +# Print which robot platform constants are being used (for debugging) +print(f"Using {ROBOT_PLATFORM} constants:") +print(f" NUM_ACTIONS_CHUNK = {NUM_ACTIONS_CHUNK}") +print(f" ACTION_DIM = {ACTION_DIM}") +print(f" PROPRIO_DIM = {PROPRIO_DIM}") +print(f" ACTION_PROPRIO_NORMALIZATION_TYPE = {ACTION_PROPRIO_NORMALIZATION_TYPE}") +print("If needed, manually set the correct constants in `prismatic/vla/constants.py`!") diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/__init__.py b/VLA-Adapter-UAV/prismatic/vla/datasets/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e6c5a8bb0e7e05f8b800860e05040d86a025bd6a --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/__init__.py @@ -0,0 +1,28 @@ +"""Lazy imports — RLDS/TensorFlow dependencies are only loaded when actually needed.""" + +from .uav_flow_dataset import UAVFlowDataset + +# RLDS classes are lazy-loaded to avoid pulling in tensorflow_datasets / dlimp +# when training on the UAV-Flow dataset (which doesn't use RLDS at all). + + +def __getattr__(name: str): + if name in {"DummyDataset", "EpisodicRLDSDataset", "RLDSBatchTransform", "RLDSDataset"}: + from .datasets import DummyDataset, EpisodicRLDSDataset, RLDSBatchTransform, RLDSDataset + + return { + "DummyDataset": DummyDataset, + "EpisodicRLDSDataset": EpisodicRLDSDataset, + "RLDSBatchTransform": RLDSBatchTransform, + "RLDSDataset": RLDSDataset, + }[name] + raise AttributeError(f"module {__name__!r} has no attribute {name!r}") + + +__all__ = [ + "DummyDataset", + "EpisodicRLDSDataset", + "RLDSBatchTransform", + "RLDSDataset", + "UAVFlowDataset", +] diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/vla/datasets/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..8c00bc7fbce204219a65b7a6fe89462648e44380 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/vla/datasets/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/__pycache__/__init__.cpython-312.pyc b/VLA-Adapter-UAV/prismatic/vla/datasets/__pycache__/__init__.cpython-312.pyc new file mode 100644 index 0000000000000000000000000000000000000000..8aa30cd3a7238c085c530ec64ca6cece56e15466 Binary files /dev/null and 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torch.utils.data import Dataset, IterableDataset +from transformers import PreTrainedTokenizerBase + +from prismatic.models.backbones.llm.prompting import PromptBuilder, QwenPromptBuilder +from prismatic.models.backbones.vision import ImageTransform +from prismatic.util.data_utils import tree_map +from prismatic.vla.action_tokenizer import ActionTokenizer +from prismatic.vla.constants import ACTION_DIM, ACTION_PROPRIO_NORMALIZATION_TYPE, ACTION_TOKEN_BEGIN_IDX, IGNORE_INDEX, NUM_ACTIONS_CHUNK, PROPRIO_DIM, STOP_INDEX, NUM_TOKENS + + + +@dataclass +class RLDSBatchTransform: + action_tokenizer: ActionTokenizer + base_tokenizer: PreTrainedTokenizerBase + image_transform: ImageTransform + prompt_builder_fn: Type[PromptBuilder] + predict_stop_token: bool = True + use_wrist_image: bool = False + use_proprio: bool = False + use_minivlm: bool = False + + + def __call__(self, rlds_batch: Dict[str, Any]) -> Dict[str, Any]: + """Converts a RLDS batch to the format expected by the OpenVLA collator/models.""" + dataset_name, current_action = rlds_batch["dataset_name"], rlds_batch["action"][0] + img = Image.fromarray(rlds_batch["observation"]["image_primary"][0]) + lang = rlds_batch["task"]["language_instruction"].decode().lower() + actions = rlds_batch["action"] + + # Construct Chat-based Prompt =>> Input is default query + language instruction, output are the action tokens + prompt_builder = self.prompt_builder_fn("openvla") + + # Get future action chunk + future_actions = rlds_batch["action"][1:] + + if self.use_minivlm: + self.prompt_builder_fn = QwenPromptBuilder + prompt_builder = self.prompt_builder_fn("openvla") + # Get action chunk string + future_actions_string = self.action_tokenizer(future_actions,self.use_minivlm) + current_action_string = self.action_tokenizer(current_action,self.use_minivlm) + + action_chunk_string = [current_action_string] + future_actions_string + flattened_action_chunk_string = [item for sublist in action_chunk_string for item in sublist] + action_chunk_len = len(flattened_action_chunk_string) + + conversation = [ + {"from": "human", "value": f"What action should the robot take to {lang}?"}, + {"from": "gpt", "value": ''}, + ] + + for turn in conversation: + prompt_builder.add_turn(turn["from"], turn["value"]) + + prompt = prompt_builder.get_prompt() #e.g. 'In: What action should the robot take to put both the cream cheese box and the butter in the basket?\nOut: 希' + input_ids = self.base_tokenizer(prompt_builder.get_prompt(), add_special_tokens=True).input_ids + + if len(input_ids) >= 3: + del input_ids[-3] + del input_ids[-2] + del input_ids[-1] + + if NUM_TOKENS' + # Tokenize (w/ `base_tokenizer`) + input_ids = self.base_tokenizer(prompt, add_special_tokens=True).input_ids + labels = list(input_ids) + + # Tensorize =>> Run Image Transform to get `pixel_values` =>> Return + # =>> IMPORTANT :: IF WE'RE USING HF LLM.forward(..., labels=labels), SHIFTING HAPPENS _INSIDE_ MODEL! + input_ids, labels = torch.tensor(input_ids), torch.tensor(labels) + pixel_values = self.image_transform(img) + + # [CRITICAL] We do not want to take the loss for anything but the predicted action tokens! + labels[: -(action_chunk_len + 1)] = IGNORE_INDEX + if not self.predict_stop_token: + labels[-1] = IGNORE_INDEX + + return_dict = dict(pixel_values=pixel_values, input_ids=input_ids, labels=labels, dataset_name=dataset_name, actions=actions) + + # Add additional inputs + if self.use_wrist_image: + all_wrist_pixels = [] + for k in rlds_batch["observation"].keys(): + if "wrist" in k: + img_wrist = Image.fromarray(rlds_batch["observation"][k][0]) + pixel_values_wrist = self.image_transform(img_wrist) + all_wrist_pixels.append(pixel_values_wrist) + return_dict["pixel_values_wrist"] = torch.cat(all_wrist_pixels, dim=0) + if self.use_proprio and "proprio" in rlds_batch["observation"]: + proprio = rlds_batch["observation"]["proprio"] + return_dict["proprio"] = proprio + + return return_dict + + + +class RLDSDataset(IterableDataset): + def __init__( + self, + data_root_dir: Path, + data_mix: str, + batch_transform: RLDSBatchTransform, + resize_resolution: Tuple[int, int], + shuffle_buffer_size: int = 256_000, + train: bool = True, + image_aug: bool = False, + ) -> None: + """Lightweight wrapper around RLDS TFDS Pipeline for use with PyTorch/OpenVLA Data Loaders.""" + self.data_root_dir, self.data_mix, self.batch_transform = data_root_dir, data_mix, batch_transform + + # Lazy-import RLDS / OXE dependencies (only triggered when RLDSDataset is actually instantiated) + from prismatic.vla.datasets.rlds.oxe import OXE_NAMED_MIXTURES, get_oxe_dataset_kwargs_and_weights + + # Configure RLDS Dataset(s) + if self.data_mix in OXE_NAMED_MIXTURES: + mixture_spec = OXE_NAMED_MIXTURES[self.data_mix] + else: + # Assume that passed "mixture" name is actually a single dataset -- create single-dataset "mix" + mixture_spec = [(self.data_mix, 1.0)] + + # fmt: off + if "aloha" in self.data_mix: + load_camera_views = ("primary", "left_wrist", "right_wrist") + else: + load_camera_views = ("primary", "wrist") + + per_dataset_kwargs, weights = get_oxe_dataset_kwargs_and_weights( + self.data_root_dir, + mixture_spec, + load_camera_views=load_camera_views, + load_depth=False, + load_proprio=True, + load_language=True, + action_proprio_normalization_type=ACTION_PROPRIO_NORMALIZATION_TYPE, + ) + rlds_config = dict( + traj_transform_kwargs=dict( + window_size=1, # If we wanted to feed / predict more than one step + future_action_window_size=NUM_ACTIONS_CHUNK-1, # For action chunking + skip_unlabeled=True, # Skip trajectories without language labels + goal_relabeling_strategy="uniform", # Goals are currently unused + ), + frame_transform_kwargs=dict( + resize_size=resize_resolution, + num_parallel_calls=16, # For CPU-intensive ops (decoding, resizing, etc.) + ), + dataset_kwargs_list=per_dataset_kwargs, + shuffle_buffer_size=shuffle_buffer_size, + sample_weights=weights, + balance_weights=True, + traj_transform_threads=len(mixture_spec), + traj_read_threads=len(mixture_spec), + train=train, + ) + + # If applicable, enable image augmentations + if image_aug: + rlds_config["frame_transform_kwargs"].update({"image_augment_kwargs" : dict( + random_resized_crop=dict(scale=[0.9, 0.9], ratio=[1.0, 1.0]), + random_brightness=[0.2], + random_contrast=[0.8, 1.2], + random_saturation=[0.8, 1.2], + random_hue=[0.05], + augment_order=[ + "random_resized_crop", + "random_brightness", + "random_contrast", + "random_saturation", + "random_hue", + ], + )}), + # fmt: on + + # Initialize RLDS Dataset + self.dataset, self.dataset_length, self.dataset_statistics = self.make_dataset(rlds_config) + + def make_dataset(self, rlds_config): + from prismatic.vla.datasets.rlds import make_interleaved_dataset + + return make_interleaved_dataset(**rlds_config) + + def __iter__(self) -> Dict[str, Any]: + for rlds_batch in self.dataset.as_numpy_iterator(): + yield self.batch_transform(rlds_batch) + + def __len__(self) -> int: + return self.dataset_length + + # === Explicitly Unused === + def __getitem__(self, idx: int) -> None: + raise NotImplementedError("IterableDataset does not implement map-style __getitem__; see __iter__ instead!") + + +class EpisodicRLDSDataset(RLDSDataset): + """Returns full episodes as list of steps instead of individual transitions (useful for visualizations).""" + + def make_dataset(self, rlds_config): + from prismatic.vla.datasets.rlds import make_single_dataset + + per_dataset_kwargs = rlds_config["dataset_kwargs_list"] + assert len(per_dataset_kwargs) == 1, "Only support single-dataset `mixes` for episodic datasets." + + return make_single_dataset( + per_dataset_kwargs[0], + train=rlds_config["train"], + traj_transform_kwargs=rlds_config["traj_transform_kwargs"], + frame_transform_kwargs=rlds_config["frame_transform_kwargs"], + ) + + def __iter__(self) -> Dict[str, Any]: + for rlds_batch in self.dataset.as_numpy_iterator(): + out = [ + self.batch_transform(tree_map(lambda x: x[i], rlds_batch)) # noqa: B023 + for i in range(rlds_batch["action"].shape[0]) + ] + yield out + + +class DummyDataset(Dataset): + def __init__( + self, + action_tokenizer: ActionTokenizer, + base_tokenizer: PreTrainedTokenizerBase, + image_transform: ImageTransform, + prompt_builder_fn: Type[PromptBuilder], + ) -> None: + self.action_tokenizer = action_tokenizer + self.base_tokenizer = base_tokenizer + self.image_transform = image_transform + self.prompt_builder_fn = prompt_builder_fn + + # Note =>> We expect the dataset to store statistics for action de-normalization. Specifically, we store the + # per-dimension 1st and 99th action quantile. The values below correspond to "no normalization" for simplicity. + self.dataset_statistics = { + "dummy_dataset": { + "action": {"q01": np.zeros((7,), dtype=np.float32), "q99": np.ones((7,), dtype=np.float32)} + } + } + + def __len__(self): + # TODO =>> Replace with number of elements in your dataset! + return 10000 + + def __getitem__(self, idx): + # TODO =>> Load image, action and instruction from disk -- we use dummy values + image = Image.fromarray(np.asarray(np.random.rand(224, 224, 3) * 255.0, dtype=np.uint8)) + action = np.asarray(np.random.rand(7), dtype=np.float32) + instruction = "do something spectacular" + + # Add instruction to VLA prompt + prompt_builder = self.prompt_builder_fn("openvla") + conversation = [ + {"from": "human", "value": f"What action should the robot take to {instruction}?"}, + {"from": "gpt", "value": self.action_tokenizer(action)}, + ] + for turn in conversation: + prompt_builder.add_turn(turn["from"], turn["value"]) + + # Tokenize (w/ `base_tokenizer`) + input_ids = self.base_tokenizer(prompt_builder.get_prompt(), add_special_tokens=True).input_ids + labels = list(input_ids) + + # Tensorize =>> Run Image Transform to get `pixel_values` =>> Return + # =>> IMPORTANT :: IF WE'RE USING HF .forward(..., labels=labels), SHIFTING HAPPENS _INSIDE_ MODEL! + input_ids, labels = torch.tensor(input_ids), torch.tensor(labels) + pixel_values = self.image_transform(image) + + # [CRITICAL] We do not want to take the loss for anything but the predicted action tokens! + labels[: -(len(action) + 1)] = IGNORE_INDEX + + return dict(pixel_values=pixel_values, input_ids=input_ids, labels=labels) diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/__init__.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..63bc4a425ffd2b22d5fe3269040d5de503e5d343 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/__init__.py @@ -0,0 +1,12 @@ +"""Lazy imports — RLDS/TensorFlow dependencies are only loaded when actually needed.""" + + +def __getattr__(name: str): + if name in {"make_interleaved_dataset", "make_single_dataset"}: + from .dataset import make_interleaved_dataset, make_single_dataset + + return {"make_interleaved_dataset": make_interleaved_dataset, "make_single_dataset": make_single_dataset}[name] + raise AttributeError(f"module {__name__!r} has no attribute {name!r}") + + +__all__ = ["make_interleaved_dataset", "make_single_dataset"] diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..6eaa61ac14b31db9302e77cbbdb3bf6bee2d797e Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/__pycache__/dataset.cpython-310.pyc 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ACTION_PROPRIO_NORMALIZATION_TYPE, ACTION_TOKEN_BEGIN_IDX, IGNORE_INDEX, NUM_ACTIONS_CHUNK, PROPRIO_DIM, STOP_INDEX +from prismatic.vla.datasets.rlds import obs_transforms, traj_transforms +from prismatic.vla.datasets.rlds.utils import goal_relabeling, task_augmentation +from prismatic.vla.datasets.rlds.utils.data_utils import ( + allocate_threads, + get_dataset_statistics, + normalize_action_and_proprio, + pprint_data_mixture, + tree_map, +) + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +# Configure Tensorflow with *no GPU devices* (to prevent clobber with PyTorch) +tf.config.set_visible_devices([], "GPU") + + +# ruff: noqa: B006 +def make_dataset_from_rlds( + name: str, + data_dir: str, + *, + train: bool, + standardize_fn: Optional[Callable[[dict], dict]] = None, + shuffle: bool = True, + image_obs_keys: Dict[str, Optional[str]] = {}, + depth_obs_keys: Dict[str, Optional[str]] = {}, + state_obs_keys: List[Optional[str]] = (), + language_key: Optional[str] = None, + action_proprio_normalization_type: ACTION_PROPRIO_NORMALIZATION_TYPE, + dataset_statistics: Optional[Union[dict, str]] = None, + absolute_action_mask: Optional[List[bool]] = None, + action_normalization_mask: Optional[List[bool]] = None, + num_parallel_reads: int = tf.data.AUTOTUNE, + num_parallel_calls: int = tf.data.AUTOTUNE, +) -> Tuple[dl.DLataset, dict]: + """ + This function is responsible for loading a specific RLDS dataset from storage and getting it into a standardized + format. Yields a dataset of trajectories. Does not include CPU-intensive operations. + + If `standardize_fn` is provided, it will be applied to each trajectory. This function should get the trajectory + into a standard format, which includes the keys "observation" and "action". Entry "observation" should be a + dictionary containing some number of additional keys, which will be extracted into an even more standardized format + according to the "*_obs_keys" arguments. + + The `image_obs_keys` and `depth_obs_keys` arguments are mappings from new names to old names, or None in place of an + old name to insert padding. For example, if after `standardize_fn`, your "observation" dict has RGB images called + "workspace" and "wrist", and `image_obs_keys={"primary": "workspace", "secondary": None, "wrist": "wrist"}`, then + the resulting dataset will have an "observation" dict containing the keys "image_primary", "image_secondary", and + "image_wrist", where "image_primary" corresponds to "workspace", "image_secondary" is a padding image, and + "image_wrist" corresponds to "wrist". + + Entry `state_obs_keys` is a list of 1-dimensional proprioceptive keys to concatenate into a single array, which will + be placed in the "proprio" key of the "observation" dict. A single padding element (zero) will be inserted for each + None entry. + + The dataset will also include a "task" dict. If `language_key` is provided, then the "task" dict will contain the + key "language_instruction", extracted from `traj[language_key]`. + + Args: + name (str): The name of the RLDS dataset (usually "name" or "name:version"). + data_dir (str): The path to the data directory. + train (bool): Whether to use the training or validation split. + shuffle (bool, optional): Whether to shuffle the file read order (does NOT fully shuffle the dataset, since one + file usually contains many trajectories)! + standardize_fn (Callable[[dict], dict], optional): A function that, if provided, will be the first + thing applied to each trajectory. + image_obs_keys (Mapping[str, str|None]): Mapping from {new: old} indicating which RGB images to extract from the + "observation" dict. `new_obs = {f"image_{new}": old_obs[old] for new, old in image_obs_keys.items()}`. + If a value of `old` is None, inserts a padding image instead (empty string). + depth_obs_keys (Mapping[str, str|None]): Same as `image_obs_keys`, but for depth images. Keys will be + prefixed with "depth_" instead of "image_". + state_obs_keys (Sequence[str|None]): List of 1-dimensional proprioception keys to be extracted from the + "observation" dict, concatenated, and mapped to "proprio". Inserts 1 element of padding for each None entry. + language_key (str, optional): If provided, the "task" dict will contain the key "language_instruction", + extracted from `traj[language_key]`. + action_proprio_normalization_type (str, optional): The type of normalization to perform on the action, + proprio, or both. Can be "normal" (mean 0, std 1) or "bounds" (normalized to [-1, 1]). + dataset_statistics: (dict|str, optional): dict (or path to JSON file) that contains dataset statistics + for normalization. If `action_proprio_normalization_type` is "normal", this should contain "mean" and + "std" keys. If `action_proprio_normalization_type` is "bounds", this should contain "min" and "max" + keys. May also provide "num_transitions" and "num_trajectories" keys for downstream usage (e.g., for + `make_interleaved_dataset`). If not provided, the statistics will be computed on the fly. + absolute_action_mask (Sequence[bool], optional): By default, all action dimensions are assumed to be + relative. This is important for when `future_action_window_size > 0`: actions that are taken + from beyond the end of the trajectory (or beyond the goal timestep when goal relabeling is used) + need to be made "neutral" to indicate that the task has been completed. For relative actions, + "neutral" means zero, but for absolute actions, "neutral" means repeating the last valid action. + This mask, if provided, indicates which action dimensions are absolute. + action_normalization_mask (Sequence[bool], optional): If provided, indicates which action dimensions + should be normalized. For example, you might not want to normalize the gripper action dimension if + it's always exactly 0 or 1. By default, all action dimensions are normalized. + num_parallel_reads (int): number of parallel read workers. Default to AUTOTUNE. + num_parallel_calls (int): number of parallel calls for traj_map operations. Default to AUTOTUNE. + Returns: + Dataset of trajectories where each step has the following fields: + - observation: + - image_{name1, name2, ...} # RGB image observations + - depth_{name1, name2, ...} # depth image observations + - proprio # 1-dimensional array of proprioceptive observations + - timestep # timestep of each frame + - task: + - language_instruction # language instruction, present if `language_key` is provided + - action # action vector + - dataset_name # name of the dataset + """ + REQUIRED_KEYS = {"observation", "action"} + if language_key is not None: + REQUIRED_KEYS.add(language_key) + + def restructure(traj): + # apply a standardization function, if provided + if standardize_fn is not None: + traj = standardize_fn(traj) + + if not all(k in traj for k in REQUIRED_KEYS): + raise ValueError( + f"Trajectory is missing keys: {REQUIRED_KEYS - set(traj.keys())}. " "Did you write a `standardize_fn`?" + ) + + # extracts images, depth images and proprio from the "observation" dict + traj_len = tf.shape(traj["action"])[0] + old_obs = traj["observation"] + new_obs = {} + for new, old in image_obs_keys.items(): + if old is None: + new_obs[f"image_{new}"] = tf.repeat("", traj_len) # padding + else: + new_obs[f"image_{new}"] = old_obs[old] + + for new, old in depth_obs_keys.items(): + if old is None: + new_obs[f"depth_{new}"] = tf.repeat("", traj_len) # padding + else: + new_obs[f"depth_{new}"] = old_obs[old] + + if state_obs_keys: + new_obs["proprio"] = tf.concat( + [ + ( + tf.zeros((traj_len, 1), dtype=tf.float32) # padding + if key is None + else tf.cast(old_obs[key], tf.float32) + ) + for key in state_obs_keys + ], + axis=1, + ) + + # add timestep info + new_obs["timestep"] = tf.range(traj_len) + + # extracts `language_key` into the "task" dict + task = {} + if language_key is not None: + if traj[language_key].dtype != tf.string: + raise ValueError( + f"Language key {language_key} has dtype {traj[language_key].dtype}, " "but it must be tf.string." + ) + task["language_instruction"] = traj.pop(language_key) + + traj = { + "observation": new_obs, + "task": task, + "action": tf.cast(traj["action"], tf.float32), + "dataset_name": tf.repeat(name, traj_len), + } + + if absolute_action_mask is not None: + if len(absolute_action_mask) != traj["action"].shape[-1]: + raise ValueError( + f"Length of absolute_action_mask ({len(absolute_action_mask)}) " + f"does not match action dimension ({traj['action'].shape[-1]})." + ) + traj["absolute_action_mask"] = tf.tile( + tf.convert_to_tensor(absolute_action_mask, dtype=tf.bool)[None], + [traj_len, 1], + ) + + return traj + + builder = tfds.builder(name, data_dir=data_dir) + + # load or compute dataset statistics + if isinstance(dataset_statistics, str): + with tf.io.gfile.GFile(dataset_statistics, "r") as f: + dataset_statistics = json.load(f) + elif dataset_statistics is None: + full_dataset = dl.DLataset.from_rlds( + builder, split="all", shuffle=False, num_parallel_reads=num_parallel_reads + ).traj_map(restructure, num_parallel_calls) + # tries to load from cache, otherwise computes on the fly + dataset_statistics = get_dataset_statistics( + full_dataset, + hash_dependencies=( + str(builder.info), + str(state_obs_keys), + inspect.getsource(standardize_fn) if standardize_fn is not None else "", + ), + save_dir=builder.data_dir, + ) + dataset_statistics = tree_map(np.array, dataset_statistics) + + # skip normalization for certain action dimensions + if action_normalization_mask is not None: + if len(action_normalization_mask) != dataset_statistics["action"]["mean"].shape[-1]: + raise ValueError( + f"Length of skip_normalization_mask ({len(action_normalization_mask)}) " + f"does not match action dimension ({dataset_statistics['action']['mean'].shape[-1]})." + ) + dataset_statistics["action"]["mask"] = np.array(action_normalization_mask) + + # construct the dataset + split = "train" if train else "val" + + dataset = dl.DLataset.from_rlds(builder, split=split, shuffle=shuffle, num_parallel_reads=num_parallel_reads) + + dataset = dataset.traj_map(restructure, num_parallel_calls) + dataset = dataset.traj_map( + partial( + normalize_action_and_proprio, + metadata=dataset_statistics, + normalization_type=action_proprio_normalization_type, + ), + num_parallel_calls, + ) + + return dataset, dataset_statistics + + +def apply_trajectory_transforms( + dataset: dl.DLataset, + *, + train: bool, + goal_relabeling_strategy: Optional[str] = None, + goal_relabeling_kwargs: dict = {}, + window_size: int = 1, + future_action_window_size: int = 0, + subsample_length: Optional[int] = None, + skip_unlabeled: bool = False, + max_action: Optional[float] = None, + max_proprio: Optional[float] = None, + task_augment_strategy: Optional[str] = None, + task_augment_kwargs: dict = {}, + num_parallel_calls: int = tf.data.AUTOTUNE, +) -> dl.DLataset: + """ + Applies common transforms that happen at a trajectory level. Such transforms are usually some sort of "relabeling" + (e.g., filtering, chunking, adding goals, dropping keys). + + Transforms in this function should have the following properties: + - They require access to an entire trajectory (i.e., they cannot be applied frame-wise). + - They are generally not CPU-intensive, mostly involving moving and copying data. + - They do not require decoded images. + + Args: + dataset (dl.DLataset): The dataset to transform. + train (bool): Whether the dataset is for training (affects subsampling). + goal_relabeling_strategy (str, optional): The goal relabeling strategy to use, or None for + no goal relabeling. See `goal_relabeling.py`. + goal_relabeling_kwargs (dict, optional): Additional keyword arguments to pass to the goal relabeling function. + window_size (int, optional): The length of the snippets that trajectories are chunked into. + future_action_window_size (int, optional): The number of future actions beyond window_size to include + in the chunked actions. + subsample_length (int, optional): If provided, trajectories longer than this will be subsampled to + this length (after goal relabeling and chunking). + skip_unlabeled (bool, optional): Whether to skip trajectories with no language labels. + max_action: (float, optional): If provided, trajectories in which *any* action dimension + of *any* transition has an absolute value larger than this will be skipped. + max_proprio: (float, optional): If provided, trajectories in which *any* proprio dimension + of *any* transition has an absolute value larger than this will be skipped. + task_augment_strategy (str, optional): The task augmentation strategy to use, or None for no task + augmentation. See `task_augmentation.py`. + task_augment_kwargs (dict, optional): Additional keyword arguments to pass to the task augmentation + function. + num_parallel_calls (int, optional): number of parallel calls for map operations. Default to AUTOTUNE. + """ + if skip_unlabeled: + if "language_instruction" not in dataset.element_spec["task"]: + raise ValueError("skip_unlabeled=True but dataset does not have language labels.") + + dataset = dataset.filter(lambda x: tf.math.reduce_any(x["task"]["language_instruction"] != "")) + + if max_action is not None: + dataset = dataset.filter(lambda x: tf.math.reduce_all(tf.math.abs(x["action"]) <= max_action)) + + if max_proprio is not None and "proprio" in dataset.element_spec["observation"]: + dataset = dataset.filter(lambda x: tf.math.reduce_all(tf.math.abs(x["observation"]["proprio"]) <= max_proprio)) + + # marks which entires of the observation and task dicts are padding + dataset = dataset.traj_map(traj_transforms.add_pad_mask_dict, num_parallel_calls) + + # updates the "task" dict + if goal_relabeling_strategy is not None: + dataset = dataset.traj_map( + partial(getattr(goal_relabeling, goal_relabeling_strategy), **goal_relabeling_kwargs), + num_parallel_calls, + ) + + # must run task augmentation before chunking, in case it changes goal timesteps + if train and task_augment_strategy is not None: + # perform task augmentation (e.g., dropping keys) + dataset = dataset.traj_map( + partial( + getattr(task_augmentation, task_augment_strategy), + **task_augment_kwargs, + ), + num_parallel_calls, + ) + + # chunks observations and actions, giving them a new axis at index 1 of size `window_size` and + # `window_size + future_action_window_size`, respectively + dataset = dataset.traj_map( + partial( + traj_transforms.chunk_act_obs, + window_size=window_size, + future_action_window_size=future_action_window_size, + ), + num_parallel_calls, + ) + + if train and subsample_length is not None: + dataset = dataset.traj_map( + partial(traj_transforms.subsample, subsample_length=subsample_length), + num_parallel_calls, + ) + + return dataset + + +def apply_per_dataset_frame_transforms( + dataset: dl.DLataset, + chunk_filter_fn: Optional[Callable] = None, +): + """ + Optionally applied *per-dataset* transforms that happen at a frame level. + + Args: + chunk_filter_fn (callable, optional): Filter function for chunks. + """ + if chunk_filter_fn: + dataset = dataset.filter(chunk_filter_fn) + return dataset + + +def apply_frame_transforms( + dataset: dl.DLataset, + *, + train: bool, + image_augment_kwargs: Union[Dict, Dict[str, Dict]] = {}, + resize_size: Union[Tuple[int, int], Dict[str, Tuple[int, int]]] = {}, + depth_resize_size: Union[Tuple[int, int], Dict[str, Tuple[int, int]]] = {}, + num_parallel_calls: int = tf.data.AUTOTUNE, +) -> dl.DLataset: + """ + Applies common transforms that happen at a frame level. These transforms are usually more CPU-intensive, (e.g., + decoding or resizing images). + + Args: + train (bool): Whether the dataset is for training (affects image augmentation). + dataset (dl.DLataset): The dataset to transform. + image_augment_kwargs (dict|Mapping[str, dict]): Keyword arguments to pass to the image augmentation + function. See `dlimp.transforms.augment_image` for documentation of these kwargs. If a dict of + dicts is provided, then key "k" will be used for "image_{k}" (names determined by `image_obs_keys` + in `make_dataset_from_rlds`). Augmentation will be skipped for missing keys (so pass an empty dict + to skip augmentation for all images). + resize_size (Tuple[int, int]|Mapping[str, Tuple[int, int]]): If provided, images will be resized to + this size. If a dict of tuples is provided, then key "k" will be used for "image_{k}" (names + determined by `image_obs_keys` in `make_dataset_from_rlds`). Resizing will be skipped for missing + keys (so pass an empty dict to skip resizing for all images). + depth_resize_size (Tuple[int, int]|Mapping[str, Tuple[int, int]]): Same as resize_size, but for depth + images. + num_parallel_calls (int): number of parallel calls for frame_map operations. Default to AUTOTUNE. + """ + + # Convenience wrapper that takes a function that operates on a non-chunked "observation" dict and applies + # it to the chunked "observation" dict as well as the non-chunked "task" dict + def apply_obs_transform(fn: Callable[[Dict], Dict], frame: Dict) -> Dict: + frame["task"] = fn(frame["task"]) + frame["observation"] = dl.vmap(fn)(frame["observation"]) + return frame + + # Decode + resize images (and depth images) + dataset = dataset.frame_map( + partial( + apply_obs_transform, + partial(obs_transforms.decode_and_resize, resize_size=resize_size, depth_resize_size=depth_resize_size), + ), + num_parallel_calls, + ) + + if train: + # Augment all images with the same seed, skipping padding images + def aug(frame: dict): + seed = tf.random.uniform([2], maxval=tf.dtypes.int32.max, dtype=tf.int32) + aug_fn = partial(obs_transforms.augment, seed=seed, augment_kwargs=image_augment_kwargs) + return apply_obs_transform(aug_fn, frame) + + dataset = dataset.frame_map(aug, num_parallel_calls) + + return dataset + + +def make_single_dataset( + dataset_kwargs: dict, + *, + train: bool, + traj_transform_kwargs: dict = {}, + frame_transform_kwargs: dict = {}, +) -> dl.DLataset: + """Creates a single dataset from kwargs. Returns a dataset of trajectories. + + Args: + dataset_kwargs: kwargs passed to `make_dataset_from_rlds` that are dataset-specific. + train: whether this is a training or validation dataset. + traj_transform_kwargs: kwargs passed to 'apply_trajectory_transforms'. + frame_transform_kwargs: kwargs passed to 'get_frame_transforms'. + """ + dataset, dataset_statistics = make_dataset_from_rlds( + **dataset_kwargs, + train=train, + ) + dataset = apply_trajectory_transforms(dataset, **traj_transform_kwargs, train=train) + dataset = apply_frame_transforms(dataset, **frame_transform_kwargs, train=train) + + # this seems to reduce memory usage without affecting speed + dataset = dataset.with_ram_budget(1) + + # save for later + return dataset, dataset_statistics["num_trajectories"], dataset_statistics + + +# === Core Initializer === +def make_interleaved_dataset( + dataset_kwargs_list: List[Dict], + sample_weights: Optional[List[float]] = None, + *, + train: bool, + shuffle_buffer_size: int, + traj_transform_kwargs: Optional[Dict] = None, + frame_transform_kwargs: Optional[Dict] = None, + batch_size: Optional[int] = None, + balance_weights: bool = False, + traj_transform_threads: Optional[int] = None, + traj_read_threads: Optional[int] = None, +) -> dl.DLataset: + """ + Creates an interleaved dataset from list of dataset configs (kwargs). Returns a dataset of batched frames. + + Args: + dataset_kwargs_list: list of kwargs, each element of which is passed to `make_dataset_from_rlds`. + "num_parallel_calls" and "num_parallel_reads" are overridden using `traj_transform_threads` and + `traj_read_threads`, respectively. + sample_weights: sampling weights for each dataset in list. If None, defaults to uniform. + train: whether this is a training or validation dataset. + shuffle_buffer_size: size of the dataset shuffle buffer (in number of frames). + traj_transform_kwargs: kwargs passed to `apply_trajectory_transforms`. "num_parallel_calls" is + overridden using `traj_transform_threads`. + frame_transform_kwargs: kwargs passed to `apply_frame_transforms`. + batch_size: batch size, if not provided output is not batched. + balance_weights: if True, the sample weights are multiplied by the number of frames in each dataset. + This makes it so that, if all the sample weights are equal, one full iteration through the interleaved + dataset will correspond to one full iteration through each individual dataset (only in expectation, + since in practice the sampling is random). + traj_transform_threads: total number of parallel calls for trajectory transforms, distributed across + datasets according to their sampling weights. If None, defaults to AUTOTUNE for every dataset. + traj_read_threads: total number of parallel read workers for trajectory transforms, distributed across + datasets according to their sampling weights. If None, defaults to AUTOTUNE for every dataset. + """ + # Default to uniform sampling (if `sample_weights` is not specified) + if not sample_weights: + sample_weights = [1.0] * len(dataset_kwargs_list) + + if len(sample_weights) != len(dataset_kwargs_list): + raise ValueError(f"sample_weights must be None or have length {len(dataset_kwargs_list)}.") + + # Check valid `traj_transform_kwargs` and `frame_transform_kwargs` + if (traj_transform_kwargs is None) or (frame_transform_kwargs is None): + raise ValueError("Missing `traj_transform_kwargs` and `frame_transform_kwargs`!") + + # Get Dataset Sizes + dataset_sizes, all_dataset_statistics = [], {} + for dataset_kwargs in dataset_kwargs_list: + data_kwargs = copy.deepcopy(dataset_kwargs) + if "dataset_frame_transform_kwargs" in data_kwargs: + data_kwargs.pop("dataset_frame_transform_kwargs") + _, dataset_statistics = make_dataset_from_rlds(**data_kwargs, train=train) + dataset_sizes.append(dataset_statistics["num_transitions"]) + all_dataset_statistics[dataset_kwargs["name"]] = dataset_statistics + + # Get the indices of the "primary" datasets (i.e., datasets with sample_weight == 1.0) + primary_dataset_indices = np.array([idx for idx in range(len(sample_weights)) if sample_weights[idx] == 1.0]) + + # Balance and Normalize Weights + if balance_weights: + sample_weights = np.array(sample_weights) * np.array(dataset_sizes) + sample_weights = np.array(sample_weights) / np.sum(sample_weights) + pprint_data_mixture(dataset_kwargs_list, sample_weights) + + # Effective Dataset Length = Number of samples until each dataset has completed at least one epoch + # =>> Note :: Only counting the "primary" datasets (i.e., datasets with sample_weight == 1.0) + dataset_len = int((np.array(dataset_sizes) / sample_weights)[primary_dataset_indices].max()) + + # Allocate Threads based on Weights + threads_per_dataset = allocate_threads(traj_transform_threads, sample_weights) + reads_per_dataset = allocate_threads(traj_read_threads, sample_weights) + + overwatch.info("Threads per Dataset: %s", threads_per_dataset) + overwatch.info("Reads per Dataset: %s", reads_per_dataset) + + # Construct Datasets + overwatch.info("Constructing datasets...") + datasets = [] + for dataset_kwargs, threads, reads in zip( + dataset_kwargs_list, + threads_per_dataset, + reads_per_dataset, + ): + dataset_frame_transform_kwargs = ( + dataset_kwargs.pop("dataset_frame_transform_kwargs") + if "dataset_frame_transform_kwargs" in dataset_kwargs + else {} + ) + dataset, _ = make_dataset_from_rlds( + **dataset_kwargs, + train=train, + num_parallel_calls=threads, + num_parallel_reads=reads, + dataset_statistics=all_dataset_statistics[dataset_kwargs["name"]], + ) + dataset = apply_trajectory_transforms( + dataset.repeat(), + **traj_transform_kwargs, + num_parallel_calls=threads, + train=train, + ).flatten(num_parallel_calls=threads) + dataset = apply_per_dataset_frame_transforms(dataset, **dataset_frame_transform_kwargs) + datasets.append(dataset) + + # Interleave at the Frame Level + dataset: dl.DLataset = dl.DLataset.sample_from_datasets(datasets, sample_weights) + + # Validation =>> fix a single shuffle buffer of data and cache it in RAM; prevents gradual memory increase! + if not train: + dataset = dataset.take(shuffle_buffer_size).cache() + + # Shuffle the Dataset + # =>> IMPORTANT :: Shuffle AFTER .cache(), or else memory will still leak! + dataset = dataset.shuffle(shuffle_buffer_size) + + # Apply Frame Transforms + overwatch.info("Applying frame transforms on dataset...") + dataset = apply_frame_transforms(dataset, **frame_transform_kwargs, train=train) + + # [Contract] When training VLA Policies, we let the Collator handle Batching! + if batch_size is not None: + dataset = dataset.batch(batch_size) + + # Note =>> Seems to reduce memory usage without affecting speed? + dataset = dataset.with_ram_budget(1) + + # Save for Later + dataset.sample_weights = sample_weights + + return dataset, dataset_len, all_dataset_statistics diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/obs_transforms.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/obs_transforms.py new file mode 100644 index 0000000000000000000000000000000000000000..d28b07d241fa8f451c7e149cab32397c7f8bb505 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/obs_transforms.py @@ -0,0 +1,99 @@ +""" +obs_transforms.py + +Contains observation-level transforms used in the orca data pipeline. + +These transforms operate on the "observation" dictionary, and are applied at a per-frame level. +""" + +from typing import Dict, Tuple, Union + +import dlimp as dl +import tensorflow as tf +from absl import logging + + +# ruff: noqa: B023 +def augment(obs: Dict, seed: tf.Tensor, augment_kwargs: Union[Dict, Dict[str, Dict]]) -> Dict: + """Augments images, skipping padding images.""" + image_names = {key[6:] for key in obs if key.startswith("image_")} + + # "augment_order" is required in augment_kwargs, so if it's there, we can assume that the user has passed + # in a single augmentation dict (otherwise, we assume that the user has passed in a mapping from image + # name to augmentation dict) + if "augment_order" in augment_kwargs: + augment_kwargs = {name: augment_kwargs for name in image_names} + + for i, name in enumerate(image_names): + if name not in augment_kwargs: + continue + kwargs = augment_kwargs[name] + logging.debug(f"Augmenting image_{name} with kwargs {kwargs}") + obs[f"image_{name}"] = tf.cond( + obs["pad_mask_dict"][f"image_{name}"], + lambda: dl.transforms.augment_image( + obs[f"image_{name}"], + **kwargs, + seed=seed + i, # augment each image differently + ), + lambda: obs[f"image_{name}"], # skip padding images + ) + + return obs + + +def decode_and_resize( + obs: Dict, + resize_size: Union[Tuple[int, int], Dict[str, Tuple[int, int]]], + depth_resize_size: Union[Tuple[int, int], Dict[str, Tuple[int, int]]], +) -> Dict: + """Decodes images and depth images, and then optionally resizes them.""" + image_names = {key[6:] for key in obs if key.startswith("image_")} + depth_names = {key[6:] for key in obs if key.startswith("depth_")} + + if isinstance(resize_size, tuple): + resize_size = {name: resize_size for name in image_names} + if isinstance(depth_resize_size, tuple): + depth_resize_size = {name: depth_resize_size for name in depth_names} + + for name in image_names: + if name not in resize_size: + logging.warning( + f"No resize_size was provided for image_{name}. This will result in 1x1 " + "padding images, which may cause errors if you mix padding and non-padding images." + ) + image = obs[f"image_{name}"] + if image.dtype == tf.string: + if tf.strings.length(image) == 0: + # this is a padding image + image = tf.zeros((*resize_size.get(name, (1, 1)), 3), dtype=tf.uint8) + else: + image = tf.io.decode_image(image, expand_animations=False, dtype=tf.uint8) + elif image.dtype != tf.uint8: + raise ValueError(f"Unsupported image dtype: found image_{name} with dtype {image.dtype}") + if name in resize_size: + image = dl.transforms.resize_image(image, size=resize_size[name]) + obs[f"image_{name}"] = image + + for name in depth_names: + if name not in depth_resize_size: + logging.warning( + f"No depth_resize_size was provided for depth_{name}. This will result in 1x1 " + "padding depth images, which may cause errors if you mix padding and non-padding images." + ) + depth = obs[f"depth_{name}"] + + if depth.dtype == tf.string: + if tf.strings.length(depth) == 0: + depth = tf.zeros((*depth_resize_size.get(name, (1, 1)), 1), dtype=tf.float32) + else: + depth = tf.io.decode_image(depth, expand_animations=False, dtype=tf.float32)[..., 0] + elif depth.dtype != tf.float32: + raise ValueError(f"Unsupported depth dtype: found depth_{name} with dtype {depth.dtype}") + + if name in depth_resize_size: + depth = dl.transforms.resize_depth_image(depth, size=depth_resize_size[name]) + + obs[f"depth_{name}"] = depth + + return obs diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__init__.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..1502ecb73d70c57c184e0c90e568b02a0fbd11de --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__init__.py @@ -0,0 +1,2 @@ +from .materialize import get_oxe_dataset_kwargs_and_weights +from .mixtures import OXE_NAMED_MIXTURES diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__pycache__/__init__.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__pycache__/__init__.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..a2a9824f64fdaff18d44863b3a9d1969233384cd Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__pycache__/__init__.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__pycache__/configs.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__pycache__/configs.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..47702563158f5075e53b9b58714965523b2e6924 Binary files /dev/null and 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a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__pycache__/transforms.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__pycache__/transforms.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..742579a28a48b1e26a2fe12d4dcaa1b5c1ab17cf Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/__pycache__/transforms.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/configs.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/configs.py new file mode 100644 index 0000000000000000000000000000000000000000..1367cd7c622d0de41f57276baedb3a532400dab8 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/configs.py @@ -0,0 +1,723 @@ +""" +configs.py + +Defines per-dataset configuration (kwargs) for each dataset in Open-X Embodiment. + +Configuration adopts the following structure: + image_obs_keys: + primary: primary external RGB + secondary: secondary external RGB + wrist: wrist RGB + + depth_obs_keys: + primary: primary external depth + secondary: secondary external depth + wrist: wrist depth + + # Always 8-dim =>> changes based on `StateEncoding` + state_obs_keys: + StateEncoding.POS_EULER: EEF XYZ (3) + Roll-Pitch-Yaw (3) + (1) + Gripper Open/Close (1) + StateEncoding.POS_QUAT: EEF XYZ (3) + Quaternion (4) + Gripper Open/Close (1) + StateEncoding.JOINT: Joint Angles (7, if fewer) + Gripper Open/Close (1) + + state_encoding: Type of `StateEncoding` + action_encoding: Type of action encoding (e.g., EEF Position vs. Joint Position) +""" + +from enum import IntEnum + +from prismatic.vla.datasets.rlds.oxe.utils.droid_utils import zero_action_filter + + +# Defines Proprioceptive State Encoding Schemes +class StateEncoding(IntEnum): + # fmt: off + NONE = -1 # No Proprioceptive State + POS_EULER = 1 # EEF XYZ (3) + Roll-Pitch-Yaw (3) + (1) + Gripper Open/Close (1) + POS_QUAT = 2 # EEF XYZ (3) + Quaternion (4) + Gripper Open/Close (1) + JOINT = 3 # Joint Angles (7, if fewer) + Gripper Open/Close (1) + JOINT_BIMANUAL = 4 # Joint Angles (2 x [ Joint Angles (6) + Gripper Open/Close (1) ]) + # fmt: on + + +# Defines Action Encoding Schemes +class ActionEncoding(IntEnum): + # fmt: off + EEF_POS = 1 # EEF Delta XYZ (3) + Roll-Pitch-Yaw (3) + Gripper Open/Close (1) + JOINT_POS = 2 # Joint Delta Position (7) + Gripper Open/Close (1) + JOINT_POS_BIMANUAL = 3 # Joint Delta Position (2 x [ Joint Delta Position (6) + Gripper Open/Close (1) ]) + EEF_R6 = 4 # EEF Delta XYZ (3) + R6 (6) + Gripper Open/Close (1) + # fmt: on + + +# === Individual Dataset Configs === +OXE_DATASET_CONFIGS = { + "fractal20220817_data": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["base_pose_tool_reached", "gripper_closed"], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "kuka": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": [ + "clip_function_input/base_pose_tool_reached", + "gripper_closed", + ], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "bridge_oxe": { # Version of Bridge V2 in Open X-Embodiment mixture + "image_obs_keys": {"primary": "image", "secondary": "image_1", "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "bridge_orig": { # Original version of Bridge V2 from project website + "image_obs_keys": {"primary": "image_0", "secondary": "image_1", "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "bridge_dataset": { # Original version of Bridge V2 from project website + "image_obs_keys": {"primary": "image_0", "secondary": "image_1", "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "taco_play": { + "image_obs_keys": { + "primary": "rgb_static", + "secondary": None, + "wrist": "rgb_gripper", + }, + "depth_obs_keys": { + "primary": "depth_static", + "secondary": None, + "wrist": "depth_gripper", + }, + "state_obs_keys": ["state_eef", None, "state_gripper"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "jaco_play": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "image_wrist", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state_eef", None, "state_gripper"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "berkeley_cable_routing": { + "image_obs_keys": { + "primary": "image", + "secondary": "top_image", + "wrist": "wrist45_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["robot_state", None], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "roboturk": { + "image_obs_keys": {"primary": "front_rgb", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": [None, None, None, None, None, None, None, None], + "state_encoding": StateEncoding.NONE, + "action_encoding": ActionEncoding.EEF_POS, + }, + "nyu_door_opening_surprising_effectiveness": { + "image_obs_keys": {"primary": None, "secondary": None, "wrist": "image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": [None, None, None, None, None, None, None, None], + "state_encoding": StateEncoding.NONE, + "action_encoding": ActionEncoding.EEF_POS, + }, + "viola": { + "image_obs_keys": { + "primary": "agentview_rgb", + "secondary": None, + "wrist": "eye_in_hand_rgb", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["joint_states", "gripper_states"], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "berkeley_autolab_ur5": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "hand_image", + }, + "depth_obs_keys": {"primary": "depth", "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "toto": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state", None], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "language_table": { + "image_obs_keys": {"primary": "rgb", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["effector_translation", None, None, None, None, None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "columbia_cairlab_pusht_real": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["robot_state", None, None, None, None, None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "stanford_kuka_multimodal_dataset_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": "depth_image", "secondary": None, "wrist": None}, + "state_obs_keys": ["ee_position", "ee_orientation", None], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "nyu_rot_dataset_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "stanford_hydra_dataset_converted_externally_to_rlds": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "austin_buds_dataset_converted_externally_to_rlds": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "nyu_franka_play_dataset_converted_externally_to_rlds": { + "image_obs_keys": { + "primary": "image", + "secondary": "image_additional_view", + "wrist": None, + }, + "depth_obs_keys": { + "primary": "depth", + "secondary": "depth_additional_view", + "wrist": None, + }, + "state_obs_keys": ["eef_state", None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "maniskill_dataset_converted_externally_to_rlds": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": { + "primary": "depth", + "secondary": None, + "wrist": "wrist_depth", + }, + "state_obs_keys": ["tcp_pose", "gripper_state"], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "furniture_bench_dataset_converted_externally_to_rlds": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "cmu_franka_exploration_dataset_converted_externally_to_rlds": { + "image_obs_keys": { + "primary": "highres_image", + "secondary": None, + "wrist": None, + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": [None, None, None, None, None, None, None, None], + "state_encoding": StateEncoding.NONE, + "action_encoding": ActionEncoding.EEF_POS, + }, + "ucsd_kitchen_dataset_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["joint_state", None], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "ucsd_pick_and_place_dataset_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "austin_sailor_dataset_converted_externally_to_rlds": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "austin_sirius_dataset_converted_externally_to_rlds": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "bc_z": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": [ + "present/xyz", + "present/axis_angle", + None, + "present/sensed_close", + ], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "utokyo_pr2_opening_fridge_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "utokyo_xarm_pick_and_place_converted_externally_to_rlds": { + "image_obs_keys": { + "primary": "image", + "secondary": "image2", + "wrist": "hand_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["end_effector_pose", None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "utokyo_xarm_bimanual_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["pose_r", None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "robo_net": { + "image_obs_keys": {"primary": "image", "secondary": "image1", "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "berkeley_mvp_converted_externally_to_rlds": { + "image_obs_keys": {"primary": None, "secondary": None, "wrist": "hand_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["pose", "gripper"], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.JOINT_POS, + }, + "berkeley_rpt_converted_externally_to_rlds": { + "image_obs_keys": {"primary": None, "secondary": None, "wrist": "hand_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["joint_pos", "gripper"], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.JOINT_POS, + }, + "kaist_nonprehensile_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state", None], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "stanford_mask_vit_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "tokyo_u_lsmo_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "dlr_sara_pour_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state", None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "dlr_sara_grid_clamp_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state", None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "dlr_edan_shared_control_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state", None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "asu_table_top_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "stanford_robocook_converted_externally_to_rlds": { + "image_obs_keys": {"primary": "image_1", "secondary": "image_2", "wrist": None}, + "depth_obs_keys": {"primary": "depth_1", "secondary": "depth_2", "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "imperialcollege_sawyer_wrist_cam": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": [None, None, None, None, None, None, None, "state"], + "state_encoding": StateEncoding.NONE, + "action_encoding": ActionEncoding.EEF_POS, + }, + "iamlab_cmu_pickup_insert_converted_externally_to_rlds": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["joint_state", "gripper_state"], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "uiuc_d3field": { + "image_obs_keys": {"primary": "image_1", "secondary": "image_2", "wrist": None}, + "depth_obs_keys": {"primary": "depth_1", "secondary": "depth_2", "wrist": None}, + "state_obs_keys": [None, None, None, None, None, None, None, None], + "state_encoding": StateEncoding.NONE, + "action_encoding": ActionEncoding.EEF_POS, + }, + "utaustin_mutex": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "berkeley_fanuc_manipulation": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "wrist_image", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["joint_state", None, "gripper_state"], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "cmu_playing_with_food": { + "image_obs_keys": { + "primary": "image", + "secondary": None, + "wrist": "finger_vision_1", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state", None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "cmu_play_fusion": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.EEF_POS, + }, + "cmu_stretch": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "berkeley_gnm_recon": { + "image_obs_keys": {"primary": None, "secondary": None, "wrist": "image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state", None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "berkeley_gnm_cory_hall": { + "image_obs_keys": {"primary": None, "secondary": None, "wrist": "image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state", None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "berkeley_gnm_sac_son": { + "image_obs_keys": {"primary": None, "secondary": None, "wrist": "image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state", None, None], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "droid": { + "image_obs_keys": { + "primary": "exterior_image_1_left", + "secondary": "exterior_image_2_left", + "wrist": "wrist_image_left", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["proprio"], + "state_encoding": StateEncoding.POS_QUAT, + "action_encoding": ActionEncoding.EEF_POS, + "aux_kwargs": { + "dataset_frame_transform_kwargs": { + "chunk_filter_fn": zero_action_filter, + }, + }, + }, + "fmb_dataset": { + "image_obs_keys": { + "primary": "image_side_1", + "secondary": "image_side_2", + "wrist": "image_wrist_1", + }, + "depth_obs_keys": { + "primary": "image_side_1_depth", + "secondary": "image_side_2_depth", + "wrist": "image_wrist_1_depth", + }, + "state_obs_keys": ["proprio"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "dobbe": { + "image_obs_keys": {"primary": "wrist_image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["proprio"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "roboset": { + "image_obs_keys": { + "primary": "image_left", + "secondary": "image_right", + "wrist": "image_wrist", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["proprio"], + "state_encoding": StateEncoding.JOINT, + "action_encoding": ActionEncoding.JOINT_POS, + }, + "rh20t": { + "image_obs_keys": { + "primary": "image_front", + "secondary": "image_side_right", + "wrist": "image_wrist", + }, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["proprio"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + ### T-DROID datasets + "tdroid_carrot_in_bowl": { # "put carrot in bowl" task, 50 demos @ 5 Hz control + "image_obs_keys": {"primary": "static_image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": "static_depth_image", "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "tdroid_pour_corn_in_pot": { # "pour corn from red bowl into steel pot" task, 50 demos @ 5 Hz control + "image_obs_keys": {"primary": "static_image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": "static_depth_image", "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "tdroid_flip_pot_upright": { # "flip pot upright" task, 10 demos @ 5 Hz control + "image_obs_keys": {"primary": "static_image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": "static_depth_image", "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "tdroid_move_object_onto_plate": { # "move onto plate" task, 150 demos @ 5 Hz control + "image_obs_keys": {"primary": "static_image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": "static_depth_image", "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "tdroid_knock_object_over": { # "knock over" task, 70 demos @ 5 Hz control + "image_obs_keys": {"primary": "static_image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": "static_depth_image", "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "tdroid_cover_object_with_towel": { # "cover with towel" task, 45 demos @ 5 Hz control + "image_obs_keys": {"primary": "static_image", "secondary": None, "wrist": None}, + "depth_obs_keys": {"primary": "static_depth_image", "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + ### DROID Finetuning datasets + "droid_wipe": { + "image_obs_keys": {"primary": "exterior_image_2_left", "secondary": None, "wrist": "wrist_image_left"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["proprio"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + ### LIBERO datasets (modified versions) + "libero_spatial_no_noops": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": "wrist_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "libero_object_no_noops": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": "wrist_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "libero_goal_no_noops": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": "wrist_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "libero_10_no_noops": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": "wrist_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "calvin_abc": { + "image_obs_keys": {"primary": "rgb_static", "secondary": None, "wrist": "rgb_gripper"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "calvin": { + "image_obs_keys": {"primary": "rgb_static", "secondary": None, "wrist": "rgb_gripper"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + "libero_4_task_suites_no_noops": { + "image_obs_keys": {"primary": "image", "secondary": None, "wrist": "wrist_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["EEF_state", "gripper_state"], + "state_encoding": StateEncoding.POS_EULER, + "action_encoding": ActionEncoding.EEF_POS, + }, + ### ALOHA fine-tuning datasets + "aloha1_fold_shorts_20_demos": { + "image_obs_keys": {"primary": "image", "secondary": None, "left_wrist": "left_wrist_image", "right_wrist": "right_wrist_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.JOINT_BIMANUAL, + "action_encoding": ActionEncoding.JOINT_POS_BIMANUAL, + }, + "aloha1_fold_shirt_30_demos": { + "image_obs_keys": {"primary": "image", "secondary": None, "left_wrist": "left_wrist_image", "right_wrist": "right_wrist_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.JOINT_BIMANUAL, + "action_encoding": ActionEncoding.JOINT_POS_BIMANUAL, + }, + "aloha1_scoop_X_into_bowl_45_demos": { + "image_obs_keys": {"primary": "image", "secondary": None, "left_wrist": "left_wrist_image", "right_wrist": "right_wrist_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.JOINT_BIMANUAL, + "action_encoding": ActionEncoding.JOINT_POS_BIMANUAL, + }, + "aloha1_put_X_into_pot_300_demos": { + "image_obs_keys": {"primary": "image", "secondary": None, "left_wrist": "left_wrist_image", "right_wrist": "right_wrist_image"}, + "depth_obs_keys": {"primary": None, "secondary": None, "wrist": None}, + "state_obs_keys": ["state"], + "state_encoding": StateEncoding.JOINT_BIMANUAL, + "action_encoding": ActionEncoding.JOINT_POS_BIMANUAL, + }, +} diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/materialize.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/materialize.py new file mode 100644 index 0000000000000000000000000000000000000000..fd4103d8d052b8431a0157b32d442b6d9114f497 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/materialize.py @@ -0,0 +1,134 @@ +""" +materialize.py + +Factory class for initializing Open-X Embodiment dataset kwargs and other parameters; provides and exports functions for +clear control flow. +""" + +from copy import deepcopy +from pathlib import Path +from typing import Any, Dict, List, Tuple + +from prismatic.overwatch import initialize_overwatch +from prismatic.vla.constants import ACTION_DIM, ACTION_PROPRIO_NORMALIZATION_TYPE, ACTION_TOKEN_BEGIN_IDX, IGNORE_INDEX, NUM_ACTIONS_CHUNK, PROPRIO_DIM, STOP_INDEX +from prismatic.vla.datasets.rlds.oxe.configs import OXE_DATASET_CONFIGS, ActionEncoding +from prismatic.vla.datasets.rlds.oxe.transforms import OXE_STANDARDIZATION_TRANSFORMS + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +def make_oxe_dataset_kwargs( + dataset_name: str, + data_root_dir: Path, + load_camera_views: Tuple[str] = ("primary",), + load_depth: bool = False, + load_proprio: bool = True, + load_language: bool = True, + action_proprio_normalization_type = ACTION_PROPRIO_NORMALIZATION_TYPE, +) -> Dict[str, Any]: + """Generates config (kwargs) for given dataset from Open-X Embodiment.""" + dataset_kwargs = deepcopy(OXE_DATASET_CONFIGS[dataset_name]) + if dataset_kwargs["action_encoding"] not in [ActionEncoding.EEF_POS, ActionEncoding.EEF_R6, ActionEncoding.JOINT_POS_BIMANUAL]: + raise ValueError(f"Cannot load `{dataset_name}`; only EEF_POS & EEF_R6 & JOINT_POS_BIMANUAL actions supported!") + + # [Contract] For EEF_POS & EEF_R6 actions, only the last action dimension (gripper) is absolute! + # Normalize all action dimensions *except* the gripper + if dataset_kwargs["action_encoding"] is ActionEncoding.EEF_POS: + dataset_kwargs["absolute_action_mask"] = [False] * 6 + [True] + dataset_kwargs["action_normalization_mask"] = [True] * 6 + [False] + elif dataset_kwargs["action_encoding"] is ActionEncoding.EEF_R6: + dataset_kwargs["absolute_action_mask"] = [False] * 9 + [True] + dataset_kwargs["action_normalization_mask"] = [True] * 9 + [False] + elif dataset_kwargs["action_encoding"] is ActionEncoding.JOINT_POS_BIMANUAL: + dataset_kwargs["absolute_action_mask"] = [True] * 14 + dataset_kwargs["action_normalization_mask"] = [True] * 14 + dataset_kwargs["action_proprio_normalization_type"] = action_proprio_normalization_type + + # Adjust Loaded Camera Views + if len(missing_keys := (set(load_camera_views) - set(dataset_kwargs["image_obs_keys"]))) > 0: + raise ValueError(f"Cannot load `{dataset_name}`; missing camera views `{missing_keys}`") + + # Filter + dataset_kwargs["image_obs_keys"] = { + k: v for k, v in dataset_kwargs["image_obs_keys"].items() if k in load_camera_views + } + dataset_kwargs["depth_obs_keys"] = { + k: v for k, v in dataset_kwargs["depth_obs_keys"].items() if k in load_camera_views + } + + # Eliminate Unnecessary Keys + dataset_kwargs.pop("state_encoding") + dataset_kwargs.pop("action_encoding") + if not load_depth: + dataset_kwargs.pop("depth_obs_keys") + if not load_proprio: + dataset_kwargs.pop("state_obs_keys") + + # Load Language + if load_language: + dataset_kwargs["language_key"] = "language_instruction" + + # Specify Standardization Transform + dataset_kwargs["standardize_fn"] = OXE_STANDARDIZATION_TRANSFORMS[dataset_name] + + # Add any aux arguments + if "aux_kwargs" in dataset_kwargs: + dataset_kwargs.update(dataset_kwargs.pop("aux_kwargs")) + + return {"name": dataset_name, "data_dir": str(data_root_dir), **dataset_kwargs} + + +def get_oxe_dataset_kwargs_and_weights( + data_root_dir: Path, + mixture_spec: List[Tuple[str, float]], + load_camera_views: Tuple[str] = ("primary",), + load_depth: bool = False, + load_proprio: bool = True, + load_language: bool = True, + action_proprio_normalization_type = ACTION_PROPRIO_NORMALIZATION_TYPE, +) -> Tuple[Dict[str, Any], List[float]]: + """ + Generates dataset kwargs for a given dataset mix from the Open X-Embodiment dataset. The returned kwargs + (per-dataset configs) and weights can be passed directly to `make_interleaved_dataset`. + + :param data_root_dir: Base directory containing RLDS/TFDS-formatted datasets (from Open-X) + :param mixture_spec: List of (dataset_name, sampling_weight) from `oxe.mixtures.OXE_NAMED_MIXTURES` + :param load_camera_views: Camera views to load; see `oxe.dataset_configs.py` for available views. + :param load_depth: Load depth information in addition to camera RGB. + :param load_proprio: Load proprioceptive state. + :param load_language: Load language instructions. + :param action_proprio_normalization_type: Normalization scheme to use for proprioceptive actions. + + return: Tuple of (per_dataset_kwargs, sampling_weights) + """ + included_datasets, filtered_mixture_spec = set(), [] + for d_name, d_weight in mixture_spec: + if d_name in included_datasets: + overwatch.warning(f"Skipping Duplicate Dataset: `{(d_name, d_weight)}`") + continue + + included_datasets.add(d_name) + filtered_mixture_spec.append((d_name, d_weight)) + + # Assemble Dataset Config (kwargs) and Weights + per_dataset_kwargs, sampling_weights = [], [] + for d_name, d_weight in filtered_mixture_spec: + try: + per_dataset_kwargs.append( + make_oxe_dataset_kwargs( + d_name, + data_root_dir, + load_camera_views, + load_depth, + load_proprio, + load_language, + action_proprio_normalization_type, + ) + ) + sampling_weights.append(d_weight) + + except ValueError as e: + overwatch.warning(f"Skipping `{d_name}` due to Error: {e}") + + return per_dataset_kwargs, sampling_weights diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/mixtures.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/mixtures.py new file mode 100644 index 0000000000000000000000000000000000000000..c5a2862fdf6bd2cd69232239f06b9f97caf0cad1 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/mixtures.py @@ -0,0 +1,230 @@ +""" +mixtures.py + +Defines a registry of dataset mixtures and weights for the Open-X Embodiment Datasets. Each dataset is associated with +a float "sampling weight" +""" + +from typing import Dict, List, Tuple + +# fmt: off +OXE_NAMED_MIXTURES: Dict[str, List[Tuple[str, float]]] = { + # === Bridge V2 Dataset === + "bridge": [ + # ("bridge_oxe", 1.0), # Version of Bridge V2 in Open-X GCP Bucket + ("bridge_orig", 1.0), # Original Version of Bridge V2 from Project Website + ], + + + # === [Moderate-Scale] Bridge++ Mixtures === + "bridge_rt_1": [ + # ("bridge_oxe", 1.0) # Version of Bridge V2 in Open-X GCP Bucket + ("bridge_orig", 1.0), # Original Version of Bridge V2 from Project Website + + ("fractal20220817_data", 1.0), # Google RT-1 Robot Data (Large-Scale) + ], + + # === RT-X Mixtures === + "rtx": [ + ("fractal20220817_data", 0.54087122203), # Google RT-1 Robot Data (Large-Scale) + ("kuka", 0.8341046294), + # ("bridge_oxe", 1.0) # Version of Bridge V2 in Open-X GCP Bucket + ("bridge_orig", 1.0), # Original Version of Bridge V2 from Project Website + ("taco_play", 2.0), + ("jaco_play", 2.0), + ("berkeley_cable_routing", 3.0), + ("roboturk", 1.0), + # ("nyu_door_opening_surprising_effectiveness", 5.0), # Note --> only contains wrist camera images (skip?) + ("viola", 2.0), + ("berkeley_autolab_ur5", 1.0), + ("toto", 1.0), + ], + + "rtx_franka": [ + ("fractal20220817_data", 0.54087122203), # Google RT-1 Robot Data (Large-Scale) + ("kuka", 0.8341046294), + # ("bridge_oxe", 1.0) # Version of Bridge V2 in Open-X GCP Bucket + ("bridge_orig", 1.0), # Original Version of Bridge V2 from Project Website + ("taco_play", 2.0), + ("jaco_play", 2.0), + ("berkeley_cable_routing", 3.0), + ("roboturk", 1.0), + # ("nyu_door_opening_surprising_effectiveness", 5.0), # Note --> only contains wrist camera images (skip?) + ("viola", 2.0), + ("berkeley_autolab_ur5", 1.0), + ("toto", 1.0), + + ("taco_play", 1.0), + ("berkeley_cable_routing", 1.0), + ("viola", 1.0), + ("toto", 1.0), + ("stanford_hydra_dataset_converted_externally_to_rlds", 1.0), + ("austin_buds_dataset_converted_externally_to_rlds", 3.0), + ("nyu_franka_play_dataset_converted_externally_to_rlds", 3.0), + ("maniskill_dataset_converted_externally_to_rlds", 0.1), + ("furniture_bench_dataset_converted_externally_to_rlds", 0.1), + ("cmu_franka_exploration_dataset_converted_externally_to_rlds", 5.0), + ("austin_sailor_dataset_converted_externally_to_rlds", 1.0), + ("austin_sirius_dataset_converted_externally_to_rlds", 1.0), + ("berkeley_rpt_converted_externally_to_rlds", 1.0), + ("kaist_nonprehensile_converted_externally_to_rlds", 3.0), + ("stanford_robocook_converted_externally_to_rlds", 1.0), + ("iamlab_cmu_pickup_insert_converted_externally_to_rlds", 1.0), + ("utaustin_mutex", 1.0), + ("cmu_play_fusion", 1.0), + ], + + # === Open-X Magic Soup === + "oxe_magic_soup": [ + ("fractal20220817_data", 0.54087122203), # Google RT-1 Robot Data (Large-Scale) + ("kuka", 0.8341046294), + # ("bridge_oxe", 1.0) # Version of Bridge V2 in Open-X GCP Bucket + ("bridge_orig", 1.0), # Original Version of Bridge V2 from Project Website + ("taco_play", 2.0), + ("jaco_play", 1.0), + ("berkeley_cable_routing", 1.0), + ("roboturk", 2.0), + # ("nyu_door_opening_surprising_effectiveness", 1.0), # Note --> only contains wrist camera images (skip?) + ("viola", 2.0), + ("berkeley_autolab_ur5", 2.0), + ("toto", 1.0), + ("language_table", 0.1), + ("stanford_hydra_dataset_converted_externally_to_rlds", 2.0), + ("austin_buds_dataset_converted_externally_to_rlds", 1.0), + ("nyu_franka_play_dataset_converted_externally_to_rlds", 3.0), + ("furniture_bench_dataset_converted_externally_to_rlds", 0.1), + ("ucsd_kitchen_dataset_converted_externally_to_rlds", 2.0), + ("austin_sailor_dataset_converted_externally_to_rlds", 1.0), + ("austin_sirius_dataset_converted_externally_to_rlds", 1.0), + # ("bc_z", 0.2), # Note --> raw data is broken! + ("dlr_edan_shared_control_converted_externally_to_rlds", 1.0), + ("iamlab_cmu_pickup_insert_converted_externally_to_rlds", 1.0), + # ("uiuc_d3field", 1.0), # Note --> raw data is broken! + ("utaustin_mutex", 1.0), + ("berkeley_fanuc_manipulation", 2.0), + ("cmu_stretch", 1.0), + ], + + # === Open-X Magic Soup++ === + "oxe_magic_soup_plus": [ + ("fractal20220817_data", 0.54087122203), # Google RT-1 Robot Data (Large-Scale) + ("kuka", 0.8341046294), + ("bridge_orig", 1.0), # Original Version of Bridge V2 from Project Website + ("taco_play", 2.0), + ("jaco_play", 1.0), + ("berkeley_cable_routing", 1.0), + ("roboturk", 2.0), + ("viola", 2.0), + ("berkeley_autolab_ur5", 2.0), + ("toto", 1.0), + ("language_table", 0.1), + ("stanford_hydra_dataset_converted_externally_to_rlds", 2.0), + ("austin_buds_dataset_converted_externally_to_rlds", 1.0), + ("nyu_franka_play_dataset_converted_externally_to_rlds", 3.0), + ("furniture_bench_dataset_converted_externally_to_rlds", 0.1), + ("ucsd_kitchen_dataset_converted_externally_to_rlds", 2.0), + ("austin_sailor_dataset_converted_externally_to_rlds", 1.0), + ("austin_sirius_dataset_converted_externally_to_rlds", 1.0), + ("dlr_edan_shared_control_converted_externally_to_rlds", 1.0), + ("iamlab_cmu_pickup_insert_converted_externally_to_rlds", 1.0), + ("utaustin_mutex", 1.0), + ("berkeley_fanuc_manipulation", 2.0), + ("cmu_stretch", 1.0), + ## New Datasets in MagicSoup++ + ("bc_z", 0.2), # Note: use v0.1.0 --> later versions broken + ("fmb_dataset", 1.0), + ("dobbe", 0.2), + ("droid", 0.06), + ], + + "oxe_magic_soup_plus_minus": [ + ("fractal20220817_data", 1.0), # Google RT-1 Robot Data (Large-Scale) + ("kuka", 0.8341046294), + ("bridge_orig", 1.0), # Original Version of Bridge V2 from Project Website + ("taco_play", 2.0), + ("jaco_play", 1.0), + ("berkeley_cable_routing", 1.0), + ("roboturk", 2.0), + ("viola", 2.0), + ("berkeley_autolab_ur5", 2.0), + ("toto", 1.0), + # ("language_table", 0.1), + ("stanford_hydra_dataset_converted_externally_to_rlds", 2.0), + ("austin_buds_dataset_converted_externally_to_rlds", 1.0), + ("nyu_franka_play_dataset_converted_externally_to_rlds", 3.0), + ("furniture_bench_dataset_converted_externally_to_rlds", 0.1), + ("ucsd_kitchen_dataset_converted_externally_to_rlds", 2.0), + ("austin_sailor_dataset_converted_externally_to_rlds", 1.0), + ("austin_sirius_dataset_converted_externally_to_rlds", 1.0), + ("dlr_edan_shared_control_converted_externally_to_rlds", 1.0), + ("iamlab_cmu_pickup_insert_converted_externally_to_rlds", 1.0), + ("utaustin_mutex", 1.0), + ("berkeley_fanuc_manipulation", 2.0), + ("cmu_stretch", 1.0), + ## New Datasets in MagicSoup++ + ("bc_z", 0.2), # Note: use v0.1.0 --> later versions broken + ("fmb_dataset", 1.0), + ("dobbe", 0.2), + # ("droid", 0.06), + ], + + # === T-DROID Dataset === + "tdroid_carrot_in_bowl": [ + ("tdroid_carrot_in_bowl", 1.0), + ], + "tdroid_pour_corn_in_pot": [ + ("tdroid_pour_corn_in_pot", 1.0), + ], + "tdroid_flip_pot_upright": [ + ("tdroid_flip_pot_upright", 1.0), + ], + "tdroid_move_object_onto_plate": [ + ("tdroid_move_object_onto_plate", 1.0), + ], + "tdroid_knock_object_over": [ + ("tdroid_knock_object_over", 1.0), + ], + "tdroid_cover_object_with_towel": [ + ("tdroid_cover_object_with_towel", 1.0), + ], + + # === DROID Finetuning Datasets === + "droid_wipe": [ + ("droid_wipe", 1.0), + ], + + # === LIBERO Datasets (Modified Versions) === + "libero_spatial_no_noops": [ + ("libero_spatial_no_noops", 1.0), + ], + "libero_object_no_noops": [ + ("libero_object_no_noops", 1.0), + ], + "libero_goal_no_noops": [ + ("libero_goal_no_noops", 1.0), + ], + "libero_10_no_noops": [ + ("libero_10_no_noops", 1.0), + ], + "libero_4_task_suites_no_noops": [ + ("libero_spatial_no_noops", 1.0), + ("libero_object_no_noops", 1.0), + ("libero_goal_no_noops", 1.0), + ("libero_10_no_noops", 1.0), + ], + + # === ALOHA Fine-Tuning Datasets === + "aloha1_fold_shorts_20_demos": [ + ("aloha1_fold_shorts_20_demos", 1.0), + ], + "aloha1_fold_shirt_30_demos": [ + ("aloha1_fold_shirt_30_demos", 1.0), + ], + "aloha1_scoop_X_into_bowl_45_demos": [ + ("aloha1_scoop_X_into_bowl_45_demos", 1.0), + ], + "aloha1_put_X_into_pot_300_demos": [ + ("aloha1_put_X_into_pot_300_demos", 1.0), + ], +# fmt: on +} diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/transforms.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/transforms.py new file mode 100644 index 0000000000000000000000000000000000000000..f253d4bfaefecabe8048cf0722fe0a27a9e8015e --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/transforms.py @@ -0,0 +1,963 @@ +""" +transforms.py + +Defines a registry of per-dataset standardization transforms for each dataset in Open-X Embodiment. + +Transforms adopt the following structure: + Input: Dictionary of *batched* features (i.e., has leading time dimension) + Output: Dictionary `step` =>> { + "observation": { + + State (in chosen state representation) + }, + "action": Action (in chosen action representation), + "language_instruction": str + } +""" + +from typing import Any, Dict + +import tensorflow as tf + +from prismatic.vla.datasets.rlds.oxe.utils.droid_utils import droid_baseact_transform, droid_finetuning_transform +from prismatic.vla.datasets.rlds.utils.data_utils import ( + binarize_gripper_actions, + invert_gripper_actions, + rel2abs_gripper_actions, + relabel_bridge_actions, +) + + +def bridge_oxe_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + """ + Applies to version of Bridge V2 in Open X-Embodiment mixture. + + Note =>> In original Bridge V2 dataset, the first timestep has an all-zero action, so we remove it! + """ + for key in trajectory.keys(): + if key == "traj_metadata": + continue + elif key in ["observation", "action"]: + for key2 in trajectory[key]: + trajectory[key][key2] = trajectory[key][key2][1:] + else: + trajectory[key] = trajectory[key][1:] + + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + trajectory["action"]["rotation_delta"], + tf.cast(trajectory["action"]["open_gripper"][:, None], tf.float32), + ), + axis=-1, + ) + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + trajectory = relabel_bridge_actions(trajectory) + trajectory["observation"]["EEF_state"] = trajectory["observation"]["state"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -1:] + return trajectory + + +def bridge_orig_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + """ + Applies to original version of Bridge V2 from the official project website. + + Note =>> In original Bridge V2 dataset, the first timestep has an all-zero action, so we remove it! + """ + for key in trajectory.keys(): + if key == "traj_metadata": + continue + elif key == "observation": + for key2 in trajectory[key]: + trajectory[key][key2] = trajectory[key][key2][1:] + else: + trajectory[key] = trajectory[key][1:] + + trajectory["action"] = tf.concat( + [ + trajectory["action"][:, :6], + binarize_gripper_actions(trajectory["action"][:, -1])[:, None], + ], + axis=1, + ) + trajectory = relabel_bridge_actions(trajectory) + trajectory["observation"]["EEF_state"] = trajectory["observation"]["state"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -1:] + return trajectory + + +def ppgm_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = tf.concat( + [ + trajectory["action"][:, :6], + binarize_gripper_actions(trajectory["action"][:, -1])[:, None], + ], + axis=1, + ) + trajectory["observation"]["EEF_state"] = trajectory["observation"]["cartesian_position"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["gripper_position"][:, -1:] + return trajectory + + +def rt1_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # make gripper action absolute action, +1 = open, 0 = close + gripper_action = trajectory["action"]["gripper_closedness_action"][:, 0] + gripper_action = rel2abs_gripper_actions(gripper_action) + + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + trajectory["action"]["rotation_delta"], + gripper_action[:, None], + ), + axis=-1, + ) + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def kuka_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # make gripper action absolute action, +1 = open, 0 = close + gripper_action = trajectory["action"]["gripper_closedness_action"][:, 0] + gripper_action = rel2abs_gripper_actions(gripper_action) + + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + trajectory["action"]["rotation_delta"], + gripper_action[:, None], + ), + axis=-1, + ) + # decode compressed state + eef_value = tf.io.decode_compressed( + trajectory["observation"]["clip_function_input/base_pose_tool_reached"], + compression_type="ZLIB", + ) + eef_value = tf.io.decode_raw(eef_value, tf.float32) + trajectory["observation"]["clip_function_input/base_pose_tool_reached"] = tf.reshape(eef_value, (-1, 7)) + gripper_value = tf.io.decode_compressed(trajectory["observation"]["gripper_closed"], compression_type="ZLIB") + gripper_value = tf.io.decode_raw(gripper_value, tf.float32) + trajectory["observation"]["gripper_closed"] = tf.reshape(gripper_value, (-1, 1)) + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["observation"]["natural_language_instruction"]), "" + # ) # delete uninformative language instruction + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def taco_play_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["state_eef"] = trajectory["observation"]["robot_obs"][:, :6] + trajectory["observation"]["state_gripper"] = trajectory["observation"]["robot_obs"][:, 7:8] + trajectory["action"] = trajectory["action"]["rel_actions_world"] + + # invert gripper action + clip, +1 = open, 0 = close + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :6], + tf.clip_by_value(trajectory["action"][:, -1:], 0, 1), + ), + axis=-1, + ) + + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def jaco_play_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["state_eef"] = trajectory["observation"]["end_effector_cartesian_pos"][:, :6] + trajectory["observation"]["state_gripper"] = trajectory["observation"]["end_effector_cartesian_pos"][:, -1:] + + # make gripper action absolute action, +1 = open, 0 = close + gripper_action = trajectory["action"]["gripper_closedness_action"][:, 0] + gripper_action = rel2abs_gripper_actions(gripper_action) + + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + tf.zeros_like(trajectory["action"]["world_vector"]), + gripper_action[:, None], + ), + axis=-1, + ) + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def berkeley_cable_routing_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + trajectory["action"]["rotation_delta"], + tf.zeros_like(trajectory["action"]["world_vector"][:, :1]), + ), + axis=-1, + ) + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["observation"]["natural_language_instruction"]), "" + # ) # delete uninformative language instruction + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def roboturk_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # invert absolute gripper action, +1 = open, 0 = close + gripper_action = invert_gripper_actions(tf.clip_by_value(trajectory["action"]["gripper_closedness_action"], 0, 1)) + + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + trajectory["action"]["rotation_delta"], + gripper_action, + ), + axis=-1, + ) + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["observation"]["natural_language_instruction"]), "" + # ) # delete uninformative language instruction + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def nyu_door_opening_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # make gripper action absolute action, +1 = open, 0 = close + gripper_action = trajectory["action"]["gripper_closedness_action"][:, 0] + gripper_action = rel2abs_gripper_actions(gripper_action) + + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + trajectory["action"]["rotation_delta"], + gripper_action[:, None], + ), + axis=-1, + ) + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["observation"]["natural_language_instruction"]), "" + # ) # delete uninformative language instruction + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def viola_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # make gripper action, +1 = open, 0 = close + gripper_action = trajectory["action"]["gripper_closedness_action"][:, None] + gripper_action = tf.clip_by_value(gripper_action, 0, 1) + gripper_action = invert_gripper_actions(gripper_action) + + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + trajectory["action"]["rotation_delta"], + gripper_action, + ), + axis=-1, + ) + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["observation"]["natural_language_instruction"]), "" + # ) # delete uninformative language instruction + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def berkeley_autolab_ur5_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["state"] = trajectory["observation"]["robot_state"][:, 6:14] + trajectory["observation"]["depth"] = trajectory["observation"].pop("image_with_depth") + + # make gripper action absolute action, +1 = open, 0 = close + gripper_action = trajectory["action"]["gripper_closedness_action"] + gripper_action = rel2abs_gripper_actions(gripper_action) + + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + trajectory["action"]["rotation_delta"], + gripper_action[:, None], + ), + axis=-1, + ) + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def toto_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + trajectory["action"]["rotation_delta"], + tf.cast(trajectory["action"]["open_gripper"][:, None], tf.float32), + ), + axis=-1, + ) + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["observation"]["natural_language_instruction"]), "" + # ) # delete uninformative language instruction + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def language_table_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # default to "open" gripper + trajectory["action"] = tf.concat( + ( + trajectory["action"], + tf.zeros_like(trajectory["action"]), + tf.zeros_like(trajectory["action"]), + tf.ones_like(trajectory["action"][:, :1]), + ), + axis=-1, + ) + + # decode language instruction + instruction_bytes = trajectory["observation"]["instruction"] + instruction_encoded = tf.strings.unicode_encode(instruction_bytes, output_encoding="UTF-8") + # Remove trailing padding --> convert RaggedTensor to regular Tensor. + trajectory["language_instruction"] = tf.strings.split(instruction_encoded, "\x00")[:, :1].to_tensor()[:, 0] + return trajectory + + +def pusht_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = tf.concat( + ( + trajectory["action"]["world_vector"], + trajectory["action"]["rotation_delta"], + trajectory["action"]["gripper_closedness_action"][:, None], + ), + axis=-1, + ) + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def stanford_kuka_multimodal_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["depth_image"] = trajectory["observation"]["depth_image"][..., 0] + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :3], + tf.zeros_like(trajectory["action"][:, :3]), + trajectory["action"][:, -1:], + ), + axis=-1, + ) + return trajectory + + +def nyu_rot_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["eef_state"] = trajectory["observation"]["state"][..., :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][..., -1:] + trajectory["action"] = trajectory["action"][..., :7] + return trajectory + + +def stanford_hydra_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # invert gripper action, +1 = open, 0 = close + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :6], + invert_gripper_actions(trajectory["action"][:, -1:]), + ), + axis=-1, + ) + + trajectory["observation"]["eef_state"] = tf.concat( + ( + trajectory["observation"]["state"][:, :3], + trajectory["observation"]["state"][:, 7:10], + ), + axis=-1, + ) + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -3:-2] + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["language_instruction"]), "" + # ) # delete uninformative language instruction + return trajectory + + +def austin_buds_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # invert gripper action + clip, +1 = open, 0 = close + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :6], + invert_gripper_actions(tf.clip_by_value(trajectory["action"][:, -1:], 0, 1)), + ), + axis=-1, + ) + + trajectory["observation"]["state"] = trajectory["observation"]["state"][:, :8] + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["language_instruction"]), "" + # ) # delete uninformative language instruction + return trajectory + + +def nyu_franka_play_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["depth"] = tf.cast(trajectory["observation"]["depth"][..., 0], tf.float32) + trajectory["observation"]["depth_additional_view"] = tf.cast( + trajectory["observation"]["depth_additional_view"][..., 0], tf.float32 + ) + trajectory["observation"]["eef_state"] = trajectory["observation"]["state"][:, -6:] + + # clip gripper action, +1 = open, 0 = close + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, -8:-2], + tf.clip_by_value(trajectory["action"][:, -2:-1], 0, 1), + ), + axis=-1, + ) + + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["language_instruction"]), "" + # ) # delete uninformative language instruction + return trajectory + + +def maniskill_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][..., 7:8] + return trajectory + + +def furniture_bench_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + import tensorflow_graphics.geometry.transformation as tft + + trajectory["observation"]["state"] = tf.concat( + ( + trajectory["observation"]["state"][:, :7], + trajectory["observation"]["state"][:, -1:], + ), + axis=-1, + ) + + # invert gripper action + clip, +1 = open, 0 = close + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :3], + tft.euler.from_quaternion(trajectory["action"][:, 3:7]), + invert_gripper_actions(tf.clip_by_value(trajectory["action"][:, -1:], 0, 1)), + ), + axis=-1, + ) + return trajectory + + +def cmu_franka_exploration_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = trajectory["action"][..., :-1] + return trajectory + + +def ucsd_kitchen_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["joint_state"] = trajectory["observation"]["state"][:, :7] + trajectory["action"] = trajectory["action"][..., :-1] + return trajectory + + +def ucsd_pick_place_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["eef_state"] = trajectory["observation"]["state"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -1:] + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :3], + tf.zeros_like(trajectory["action"][:, :3]), + trajectory["action"][:, -1:], + ), + axis=-1, + ) + return trajectory + + +def austin_sailor_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # invert gripper action + clip, +1 = open, 0 = close + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :6], + invert_gripper_actions(tf.clip_by_value(trajectory["action"][:, -1:], 0, 1)), + ), + axis=-1, + ) + + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["language_instruction"]), "" + # ) # delete uninformative language instruction + return trajectory + + +def austin_sirius_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # invert gripper action + clip, +1 = open, 0 = close + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :6], + invert_gripper_actions(tf.clip_by_value(trajectory["action"][:, -1:], 0, 1)), + ), + axis=-1, + ) + + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["language_instruction"]), "" + # ) # delete uninformative language instruction + return trajectory + + +def bc_z_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = tf.concat( + ( + trajectory["action"]["future/xyz_residual"][:, :3], + trajectory["action"]["future/axis_angle_residual"][:, :3], + invert_gripper_actions(tf.cast(trajectory["action"]["future/target_close"][:, :1], tf.float32)), + ), + axis=-1, + ) + trajectory["language_instruction"] = trajectory["observation"]["natural_language_instruction"] + return trajectory + + +def tokyo_pr2_opening_fridge_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["eef_state"] = trajectory["observation"]["state"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -1:] + trajectory["action"] = trajectory["action"][..., :-1] + return trajectory + + +def tokyo_pr2_tabletop_manipulation_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["eef_state"] = trajectory["observation"]["state"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -1:] + trajectory["action"] = trajectory["action"][..., :-1] + return trajectory + + +def utokyo_xarm_pick_place_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + return trajectory + + +def utokyo_xarm_bimanual_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = trajectory["action"][..., -7:] + return trajectory + + +def robo_net_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["eef_state"] = tf.concat( + ( + trajectory["observation"]["state"][:, :4], + tf.zeros_like(trajectory["observation"]["state"][:, :2]), + ), + axis=-1, + ) + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -1:] + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :4], + tf.zeros_like(trajectory["action"][:, :2]), + trajectory["action"][:, -1:], + ), + axis=-1, + ) + return trajectory + + +def berkeley_mvp_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + return trajectory + + +def berkeley_rpt_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + return trajectory + + +def kaist_nonprehensible_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["state"] = trajectory["observation"]["state"][:, -7:] + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :6], + tf.zeros_like(trajectory["action"][:, :1]), + ), + axis=-1, + ) + return trajectory + + +def stanford_mask_vit_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["eef_state"] = tf.concat( + ( + trajectory["observation"]["end_effector_pose"][:, :4], + tf.zeros_like(trajectory["observation"]["end_effector_pose"][:, :2]), + ), + axis=-1, + ) + trajectory["observation"]["gripper_state"] = trajectory["observation"]["end_effector_pose"][:, -1:] + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :4], + tf.zeros_like(trajectory["action"][:, :2]), + trajectory["action"][:, -1:], + ), + axis=-1, + ) + return trajectory + + +def tokyo_lsmo_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["eef_state"] = trajectory["observation"]["state"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -1:] + return trajectory + + +def dlr_sara_pour_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + return trajectory + + +def dlr_sara_grid_clamp_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["state"] = trajectory["observation"]["state"][:, :6] + return trajectory + + +def dlr_edan_shared_control_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # invert gripper action, +1 = open, 0 = close + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :6], + invert_gripper_actions(trajectory["action"][:, -1:]), + ), + axis=-1, + ) + return trajectory + + +def asu_table_top_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["eef_state"] = trajectory["ground_truth_states"]["EE"] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -1:] + return trajectory + + +def robocook_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["eef_state"] = trajectory["observation"]["state"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -1:] + return trajectory + + +def imperial_wristcam_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = trajectory["action"][..., :-1] + return trajectory + + +def iamlab_pick_insert_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + import tensorflow_graphics.geometry.transformation as tft + + trajectory["observation"]["joint_state"] = trajectory["observation"]["state"][:, :7] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, 7:8] + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :3], + tft.euler.from_quaternion(trajectory["action"][:, 3:7]), + trajectory["action"][:, 7:8], + ), + axis=-1, + ) + return trajectory + + +def uiuc_d3field_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = tf.concat( + ( + trajectory["action"], + tf.zeros_like(trajectory["action"]), + tf.zeros_like(trajectory["action"][:, :1]), + ), + axis=-1, + ) + return trajectory + + +def utaustin_mutex_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["state"] = trajectory["observation"]["state"][:, :8] + + # invert gripper action + clip, +1 = open, 0 = close + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :6], + invert_gripper_actions(tf.clip_by_value(trajectory["action"][:, -1:], 0, 1)), + ), + axis=-1, + ) + + # trajectory["language_instruction"] = tf.fill( + # tf.shape(trajectory["language_instruction"]), "" + # ) # delete uninformative language instruction + return trajectory + + +def berkeley_fanuc_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["joint_state"] = trajectory["observation"]["state"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, 6:7] + + # dataset does not store gripper actions, so use gripper state info, invert so +1 = open, 0 = close + trajectory["action"] = tf.concat( + ( + trajectory["action"], + invert_gripper_actions(trajectory["observation"]["gripper_state"]), + ), + axis=-1, + ) + return trajectory + + +def cmu_playing_with_food_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + import tensorflow_graphics.geometry.transformation as tft + + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :3], + tft.euler.from_quaternion(trajectory["action"][:, 3:7]), + trajectory["action"][:, -1:], + ), + axis=-1, + ) + return trajectory + + +def playfusion_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :3], + trajectory["action"][:, -4:], + ), + axis=-1, + ) + return trajectory + + +def cmu_stretch_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["eef_state"] = tf.concat( + ( + trajectory["observation"]["state"][:, :3], + tf.zeros_like(trajectory["observation"]["state"][:, :3]), + ), + axis=-1, + ) + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -1:] + trajectory["action"] = trajectory["action"][..., :-1] + return trajectory + + +def gnm_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["observation"]["state"] = tf.concat( + ( + trajectory["observation"]["position"], + tf.zeros_like(trajectory["observation"]["state"][:, :3]), + trajectory["observation"]["yaw"], + ), + axis=-1, + ) + trajectory["action"] = tf.concat( + ( + trajectory["action"], + tf.zeros_like(trajectory["action"]), + tf.zeros_like(trajectory["action"]), + tf.zeros_like(trajectory["action"][:, :1]), + ), + axis=-1, + ) + return trajectory + + +def fmb_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # every input feature is batched, ie has leading batch dimension + trajectory["observation"]["proprio"] = tf.concat( + ( + trajectory["observation"]["eef_pose"], + trajectory["observation"]["state_gripper_pose"][..., None], + ), + axis=-1, + ) + return trajectory + + +def dobbe_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # every input feature is batched, ie has leading batch dimension + trajectory["observation"]["proprio"] = trajectory["observation"]["state"] + return trajectory + + +def roboset_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # every input feature is batched, ie has leading batch dimension + trajectory["observation"]["proprio"] = trajectory["observation"]["state"] + + # gripper action is in -1...1 --> clip to 0...1, flip + gripper_action = trajectory["action"][:, -1:] + gripper_action = invert_gripper_actions(tf.clip_by_value(gripper_action, 0, 1)) + + trajectory["action"] = tf.concat( + ( + trajectory["action"][:, :7], + gripper_action, + ), + axis=-1, + ) + return trajectory + + +def rh20t_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = tf.concat( + ( + trajectory["action"]["tcp_base"], + tf.cast(trajectory["action"]["gripper"][:, None], tf.float32), + ), + axis=-1, + ) + trajectory["observation"]["proprio"] = tf.concat( + ( + trajectory["observation"]["tcp_base"], + trajectory["observation"]["gripper_width"][..., None], + ), + axis=-1, + ) + return trajectory + + +def tdroid_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + trajectory["action"] = tf.concat( + [ + trajectory["action"][:, :6], + binarize_gripper_actions(trajectory["action"][:, -1])[:, None], + ], + axis=1, + ) + trajectory["observation"]["EEF_state"] = trajectory["observation"]["cartesian_position"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["gripper_position"][:, -1:] + return trajectory + + +def libero_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # gripper action is in -1 (open)...1 (close) --> clip to 0...1, flip --> +1 = open, 0 = close + gripper_action = trajectory["action"][:, -1:] + gripper_action = invert_gripper_actions(tf.clip_by_value(gripper_action, 0, 1)) + + trajectory["action"] = tf.concat( + [ + trajectory["action"][:, :6], + gripper_action, + ], + axis=1, + ) + trajectory["observation"]["EEF_state"] = trajectory["observation"]["state"][:, :6] + trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -2:] # 2D gripper state + return trajectory + + + +def calvin_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # calvin +1 = open, -1 = close + # gripper action is in -1 (open)...1 (close) --> clip to 0...1, flip --> +1 = open, 0 = close + gripper_action = trajectory["action"][:, -1:] + gripper_action = tf.clip_by_value(gripper_action, 0, 1) + + trajectory["action"] = tf.concat( + [ + trajectory["action"][:, :6], + gripper_action, + ], + axis=1, + ) + + trajectory["observation"]["EEF_state"] = trajectory["observation"]["state"][:, :6] + # trajectory["observation"]["gripper_state"] = trajectory["observation"]["state"][:, -2:] # 2D gripper state + trajectory["observation"]["gripper_state"] = tf.concat( + [ + trajectory["observation"]["state"][:, 6:7], + trajectory["observation"]["state"][:, -1:], + ], + axis=1, + ) + return trajectory + + + +def aloha_dataset_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + # Don't need to do anything because dataset is already in the correct format + return trajectory + + +# === Registry === +OXE_STANDARDIZATION_TRANSFORMS = { + "bridge_oxe": bridge_oxe_dataset_transform, + "bridge_orig": bridge_orig_dataset_transform, + "bridge_dataset": bridge_orig_dataset_transform, + "ppgm": ppgm_dataset_transform, + "ppgm_static": ppgm_dataset_transform, + "ppgm_wrist": ppgm_dataset_transform, + "fractal20220817_data": rt1_dataset_transform, + "kuka": kuka_dataset_transform, + "taco_play": taco_play_dataset_transform, + "jaco_play": jaco_play_dataset_transform, + "berkeley_cable_routing": berkeley_cable_routing_dataset_transform, + "roboturk": roboturk_dataset_transform, + "nyu_door_opening_surprising_effectiveness": nyu_door_opening_dataset_transform, + "viola": viola_dataset_transform, + "berkeley_autolab_ur5": berkeley_autolab_ur5_dataset_transform, + "toto": toto_dataset_transform, + "language_table": language_table_dataset_transform, + "columbia_cairlab_pusht_real": pusht_dataset_transform, + "stanford_kuka_multimodal_dataset_converted_externally_to_rlds": stanford_kuka_multimodal_dataset_transform, + "nyu_rot_dataset_converted_externally_to_rlds": nyu_rot_dataset_transform, + "stanford_hydra_dataset_converted_externally_to_rlds": stanford_hydra_dataset_transform, + "austin_buds_dataset_converted_externally_to_rlds": austin_buds_dataset_transform, + "nyu_franka_play_dataset_converted_externally_to_rlds": nyu_franka_play_dataset_transform, + "maniskill_dataset_converted_externally_to_rlds": maniskill_dataset_transform, + "furniture_bench_dataset_converted_externally_to_rlds": furniture_bench_dataset_transform, + "cmu_franka_exploration_dataset_converted_externally_to_rlds": cmu_franka_exploration_dataset_transform, + "ucsd_kitchen_dataset_converted_externally_to_rlds": ucsd_kitchen_dataset_transform, + "ucsd_pick_and_place_dataset_converted_externally_to_rlds": ucsd_pick_place_dataset_transform, + "austin_sailor_dataset_converted_externally_to_rlds": austin_sailor_dataset_transform, + "austin_sirius_dataset_converted_externally_to_rlds": austin_sirius_dataset_transform, + "bc_z": bc_z_dataset_transform, + "utokyo_pr2_opening_fridge_converted_externally_to_rlds": tokyo_pr2_opening_fridge_dataset_transform, + "utokyo_pr2_tabletop_manipulation_converted_externally_to_rlds": tokyo_pr2_tabletop_manipulation_dataset_transform, + "utokyo_xarm_pick_and_place_converted_externally_to_rlds": utokyo_xarm_pick_place_dataset_transform, + "utokyo_xarm_bimanual_converted_externally_to_rlds": utokyo_xarm_bimanual_dataset_transform, + "robo_net": robo_net_dataset_transform, + "berkeley_mvp_converted_externally_to_rlds": berkeley_mvp_dataset_transform, + "berkeley_rpt_converted_externally_to_rlds": berkeley_rpt_dataset_transform, + "kaist_nonprehensile_converted_externally_to_rlds": kaist_nonprehensible_dataset_transform, + "stanford_mask_vit_converted_externally_to_rlds": stanford_mask_vit_dataset_transform, + "tokyo_u_lsmo_converted_externally_to_rlds": tokyo_lsmo_dataset_transform, + "dlr_sara_pour_converted_externally_to_rlds": dlr_sara_pour_dataset_transform, + "dlr_sara_grid_clamp_converted_externally_to_rlds": dlr_sara_grid_clamp_dataset_transform, + "dlr_edan_shared_control_converted_externally_to_rlds": dlr_edan_shared_control_dataset_transform, + "asu_table_top_converted_externally_to_rlds": asu_table_top_dataset_transform, + "stanford_robocook_converted_externally_to_rlds": robocook_dataset_transform, + "imperialcollege_sawyer_wrist_cam": imperial_wristcam_dataset_transform, + "iamlab_cmu_pickup_insert_converted_externally_to_rlds": iamlab_pick_insert_dataset_transform, + "uiuc_d3field": uiuc_d3field_dataset_transform, + "utaustin_mutex": utaustin_mutex_dataset_transform, + "berkeley_fanuc_manipulation": berkeley_fanuc_dataset_transform, + "cmu_playing_with_food": cmu_playing_with_food_dataset_transform, + "cmu_play_fusion": playfusion_dataset_transform, + "cmu_stretch": cmu_stretch_dataset_transform, + "berkeley_gnm_recon": gnm_dataset_transform, + "berkeley_gnm_cory_hall": gnm_dataset_transform, + "berkeley_gnm_sac_son": gnm_dataset_transform, + "droid": droid_baseact_transform, + "fmb_dataset": fmb_dataset_transform, + "dobbe": dobbe_dataset_transform, + "roboset": roboset_dataset_transform, + "rh20t": rh20t_dataset_transform, + ### T-DROID datasets + "tdroid_carrot_in_bowl": tdroid_dataset_transform, + "tdroid_pour_corn_in_pot": tdroid_dataset_transform, + "tdroid_flip_pot_upright": tdroid_dataset_transform, + "tdroid_move_object_onto_plate": tdroid_dataset_transform, + "tdroid_knock_object_over": tdroid_dataset_transform, + "tdroid_cover_object_with_towel": tdroid_dataset_transform, + ### DROID Finetuning datasets + "droid_wipe": droid_finetuning_transform, + ### LIBERO datasets (modified versions) + "libero_spatial_no_noops": libero_dataset_transform, + "libero_object_no_noops": libero_dataset_transform, + "libero_goal_no_noops": libero_dataset_transform, + "libero_10_no_noops": libero_dataset_transform, + "libero_4_task_suites_no_noops": libero_dataset_transform, + "calvin_abc_rlds": calvin_dataset_transform, + "calvin": calvin_dataset_transform, + ### ALOHA fine-tuning datasets + "aloha1_fold_shorts_20_demos": aloha_dataset_transform, + "aloha1_fold_shirt_30_demos": aloha_dataset_transform, + "aloha1_scoop_X_into_bowl_45_demos": aloha_dataset_transform, + "aloha1_put_X_into_pot_300_demos": aloha_dataset_transform, +} diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/utils/__pycache__/droid_utils.cpython-310.pyc b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/utils/__pycache__/droid_utils.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..9b77c3045126e236cda91f09e5610545364b52a3 Binary files /dev/null and b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/utils/__pycache__/droid_utils.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/utils/droid_utils.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/utils/droid_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..44175a21cff6c3ae45f7596024852462ea40c68e --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/oxe/utils/droid_utils.py @@ -0,0 +1,178 @@ +"""Episode transforms for DROID dataset.""" + +from typing import Any, Dict + +import tensorflow as tf +import tensorflow_graphics.geometry.transformation as tfg + + +def rmat_to_euler(rot_mat): + return tfg.euler.from_rotation_matrix(rot_mat) + + +def euler_to_rmat(euler): + return tfg.rotation_matrix_3d.from_euler(euler) + + +def invert_rmat(rot_mat): + return tfg.rotation_matrix_3d.inverse(rot_mat) + + +def rotmat_to_rot6d(mat): + """ + Converts rotation matrix to R6 rotation representation (first two rows in rotation matrix). + Args: + mat: rotation matrix + + Returns: 6d vector (first two rows of rotation matrix) + + """ + r6 = mat[..., :2, :] + r6_0, r6_1 = r6[..., 0, :], r6[..., 1, :] + r6_flat = tf.concat([r6_0, r6_1], axis=-1) + return r6_flat + + +def velocity_act_to_wrist_frame(velocity, wrist_in_robot_frame): + """ + Translates velocity actions (translation + rotation) from base frame of the robot to wrist frame. + Args: + velocity: 6d velocity action (3 x translation, 3 x rotation) + wrist_in_robot_frame: 6d pose of the end-effector in robot base frame + + Returns: 9d velocity action in robot wrist frame (3 x translation, 6 x rotation as R6) + + """ + R_frame = euler_to_rmat(wrist_in_robot_frame[:, 3:6]) + R_frame_inv = invert_rmat(R_frame) + + # world to wrist: dT_pi = R^-1 dT_rbt + vel_t = (R_frame_inv @ velocity[:, :3][..., None])[..., 0] + + # world to wrist: dR_pi = R^-1 dR_rbt R + dR = euler_to_rmat(velocity[:, 3:6]) + dR = R_frame_inv @ (dR @ R_frame) + dR_r6 = rotmat_to_rot6d(dR) + return tf.concat([vel_t, dR_r6], axis=-1) + + +def rand_swap_exterior_images(img1, img2): + """ + Randomly swaps the two exterior images (for training with single exterior input). + """ + return tf.cond(tf.random.uniform(shape=[]) > 0.5, lambda: (img1, img2), lambda: (img2, img1)) + + +def droid_baseact_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + """ + DROID dataset transformation for actions expressed in *base* frame of the robot. + """ + dt = trajectory["action_dict"]["cartesian_velocity"][:, :3] + dR = trajectory["action_dict"]["cartesian_velocity"][:, 3:6] + + trajectory["action"] = tf.concat( + ( + dt, + dR, + 1 - trajectory["action_dict"]["gripper_position"], + ), + axis=-1, + ) + trajectory["observation"]["exterior_image_1_left"], trajectory["observation"]["exterior_image_2_left"] = ( + rand_swap_exterior_images( + trajectory["observation"]["exterior_image_1_left"], + trajectory["observation"]["exterior_image_2_left"], + ) + ) + trajectory["observation"]["proprio"] = tf.concat( + ( + trajectory["observation"]["cartesian_position"], + trajectory["observation"]["gripper_position"], + ), + axis=-1, + ) + return trajectory + + +def droid_wristact_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + """ + DROID dataset transformation for actions expressed in *wrist* frame of the robot. + """ + wrist_act = velocity_act_to_wrist_frame( + trajectory["action_dict"]["cartesian_velocity"], trajectory["observation"]["cartesian_position"] + ) + trajectory["action"] = tf.concat( + ( + wrist_act, + trajectory["action_dict"]["gripper_position"], + ), + axis=-1, + ) + trajectory["observation"]["exterior_image_1_left"], trajectory["observation"]["exterior_image_2_left"] = ( + rand_swap_exterior_images( + trajectory["observation"]["exterior_image_1_left"], + trajectory["observation"]["exterior_image_2_left"], + ) + ) + trajectory["observation"]["proprio"] = tf.concat( + ( + trajectory["observation"]["cartesian_position"], + trajectory["observation"]["gripper_position"], + ), + axis=-1, + ) + return trajectory + + +def droid_finetuning_transform(trajectory: Dict[str, Any]) -> Dict[str, Any]: + """ + DROID dataset transformation for actions expressed in *base* frame of the robot. + """ + dt = trajectory["action_dict"]["cartesian_velocity"][:, :3] + dR = trajectory["action_dict"]["cartesian_velocity"][:, 3:6] + trajectory["action"] = tf.concat( + ( + dt, + dR, + 1 - trajectory["action_dict"]["gripper_position"], + ), + axis=-1, + ) + trajectory["observation"]["proprio"] = tf.concat( + ( + trajectory["observation"]["cartesian_position"], + trajectory["observation"]["gripper_position"], + ), + axis=-1, + ) + return trajectory + + +def zero_action_filter(traj: Dict) -> bool: + """ + Filters transitions whose actions are all-0 (only relative actions, no gripper action). + Note: this filter is applied *after* action normalization, so need to compare to "normalized 0". + """ + DROID_Q01 = tf.convert_to_tensor( + [ + -0.7776297926902771, + -0.5803514122962952, + -0.5795090794563293, + -0.6464047729969025, + -0.7041108310222626, + -0.8895104378461838, + ] + ) + DROID_Q99 = tf.convert_to_tensor( + [ + 0.7597932070493698, + 0.5726242214441299, + 0.7351000607013702, + 0.6705610305070877, + 0.6464948207139969, + 0.8897542208433151, + ] + ) + DROID_NORM_0_ACT = 2 * (tf.zeros_like(traj["action"][:, :6]) - DROID_Q01) / (DROID_Q99 - DROID_Q01 + 1e-8) - 1 + + return tf.reduce_any(tf.math.abs(traj["action"][:, :6] - DROID_NORM_0_ACT) > 1e-5) diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/traj_transforms.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/traj_transforms.py new file mode 100644 index 0000000000000000000000000000000000000000..d2ae695abaa813e1687b1080f4b3d9b4b828fa60 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/traj_transforms.py @@ -0,0 +1,90 @@ +""" +traj_transforms.py + +Contains trajectory transforms used in the orca data pipeline. Trajectory transforms operate on a dictionary +that represents a single trajectory, meaning each tensor has the same leading dimension (the trajectory length). +""" + +import logging +from typing import Dict + +import tensorflow as tf + + +def chunk_act_obs(traj: Dict, window_size: int, future_action_window_size: int = 0) -> Dict: + """ + Chunks actions and observations into the given window_size. + + "observation" keys are given a new axis (at index 1) of size `window_size` containing `window_size - 1` + observations from the past and the current observation. "action" is given a new axis (at index 1) of size + `window_size + future_action_window_size` containing `window_size - 1` actions from the past, the current + action, and `future_action_window_size` actions from the future. "pad_mask" is added to "observation" and + indicates whether an observation should be considered padding (i.e. if it had come from a timestep + before the start of the trajectory). + """ + traj_len = tf.shape(traj["action"])[0] + action_dim = traj["action"].shape[-1] + effective_traj_len = traj_len - future_action_window_size + chunk_indices = tf.broadcast_to(tf.range(-window_size + 1, 1), [effective_traj_len, window_size]) + tf.broadcast_to( + tf.range(effective_traj_len)[:, None], [effective_traj_len, window_size] + ) + + action_chunk_indices = tf.broadcast_to( + tf.range(-window_size + 1, 1 + future_action_window_size), + [effective_traj_len, window_size + future_action_window_size], + ) + tf.broadcast_to( + tf.range(effective_traj_len)[:, None], + [effective_traj_len, window_size + future_action_window_size], + ) + + floored_chunk_indices = tf.maximum(chunk_indices, 0) + + goal_timestep = tf.fill([effective_traj_len], traj_len - 1) + + floored_action_chunk_indices = tf.minimum(tf.maximum(action_chunk_indices, 0), goal_timestep[:, None]) + + traj["observation"] = tf.nest.map_structure(lambda x: tf.gather(x, floored_chunk_indices), traj["observation"]) + traj["action"] = tf.gather(traj["action"], floored_action_chunk_indices) + + # indicates whether an entire observation is padding + traj["observation"]["pad_mask"] = chunk_indices >= 0 + + # Truncate other elements of the trajectory dict + traj["task"] = tf.nest.map_structure(lambda x: tf.gather(x, tf.range(effective_traj_len)), traj["task"]) + traj["dataset_name"] = tf.gather(traj["dataset_name"], tf.range(effective_traj_len)) + traj["absolute_action_mask"] = tf.gather(traj["absolute_action_mask"], tf.range(effective_traj_len)) + + return traj + + +def subsample(traj: Dict, subsample_length: int) -> Dict: + """Subsamples trajectories to the given length.""" + traj_len = tf.shape(traj["action"])[0] + if traj_len > subsample_length: + indices = tf.random.shuffle(tf.range(traj_len))[:subsample_length] + traj = tf.nest.map_structure(lambda x: tf.gather(x, indices), traj) + + return traj + + +def add_pad_mask_dict(traj: Dict) -> Dict: + """ + Adds a dictionary indicating which elements of the observation/task should be treated as padding. + =>> traj["observation"|"task"]["pad_mask_dict"] = {k: traj["observation"|"task"][k] is not padding} + """ + traj_len = tf.shape(traj["action"])[0] + + for key in ["observation", "task"]: + pad_mask_dict = {} + for subkey in traj[key]: + # Handles "language_instruction", "image_*", and "depth_*" + if traj[key][subkey].dtype == tf.string: + pad_mask_dict[subkey] = tf.strings.length(traj[key][subkey]) != 0 + + # All other keys should not be treated as padding + else: + pad_mask_dict[subkey] = tf.ones([traj_len], dtype=tf.bool) + + traj[key]["pad_mask_dict"] = pad_mask_dict + + return traj diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/utils/__init__.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/utils/__init__.py new file mode 100644 index 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b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/utils/data_utils.py new file mode 100644 index 0000000000000000000000000000000000000000..41b61bd12c9a325e549d21d19f45ecd43ffb0570 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/utils/data_utils.py @@ -0,0 +1,321 @@ +""" +data_utils.py + +Additional RLDS-specific data utilities. +""" + +import hashlib +import json +import os +from typing import Any, Callable, Dict, List, Optional, Tuple + +import dlimp as dl +import numpy as np +import tensorflow as tf +from tqdm import tqdm + +from prismatic.overwatch import initialize_overwatch +from prismatic.vla.constants import NormalizationType + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +def tree_map(fn: Callable, tree: Dict) -> Dict: + return {k: tree_map(fn, v) if isinstance(v, dict) else fn(v) for k, v in tree.items()} + + +def tree_merge(*trees: Dict) -> Dict: + merged = {} + for tree in trees: + for k, v in tree.items(): + if isinstance(v, dict): + merged[k] = tree_merge(merged.get(k, {}), v) + else: + merged[k] = v + return merged + + +def to_padding(tensor: tf.Tensor) -> tf.Tensor: + if tf.debugging.is_numeric_tensor(tensor): + return tf.zeros_like(tensor) + elif tensor.dtype == tf.string: + return tf.fill(tf.shape(tensor), "") + else: + raise ValueError(f"Cannot generate padding for tensor of type {tensor.dtype}.") + + +# === State / Action Processing Primitives === + + +# ruff: noqa: B023 +def normalize_action_and_proprio(traj: Dict, metadata: Dict, normalization_type: NormalizationType): + """Normalizes the action and proprio fields of a trajectory using the given metadata.""" + keys_to_normalize = {"action": "action", "proprio": "observation/proprio"} + + if normalization_type == NormalizationType.NORMAL: + for key, traj_key in keys_to_normalize.items(): + mask = metadata[key].get("mask", tf.ones_like(metadata[key]["mean"], dtype=tf.bool)) + traj = dl.transforms.selective_tree_map( + traj, + match=lambda k, _: k == traj_key, + map_fn=lambda x: tf.where(mask, (x - metadata[key]["mean"]) / (metadata[key]["std"] + 1e-8), x), + ) + + return traj + + elif normalization_type in [NormalizationType.BOUNDS, NormalizationType.BOUNDS_Q99]: + for key, traj_key in keys_to_normalize.items(): + if normalization_type == NormalizationType.BOUNDS: + low = metadata[key]["min"] + high = metadata[key]["max"] + elif normalization_type == NormalizationType.BOUNDS_Q99: + low = metadata[key]["q01"] + high = metadata[key]["q99"] + mask = metadata[key].get("mask", tf.ones_like(metadata[key]["min"], dtype=tf.bool)) + traj = dl.transforms.selective_tree_map( + traj, + match=lambda k, _: k == traj_key, + map_fn=lambda x: tf.where( + mask, + tf.clip_by_value(2 * (x - low) / (high - low + 1e-8) - 1, -1, 1), + x, + ), + ) + + # Note (Moo Jin): Map unused action dimensions (i.e., dimensions where min == max) to all 0s. + zeros_mask = metadata[key]["min"] == metadata[key]["max"] + traj = dl.transforms.selective_tree_map( + traj, match=lambda k, _: k == traj_key, map_fn=lambda x: tf.where(zeros_mask, 0.0, x) + ) + + return traj + + raise ValueError(f"Unknown Normalization Type {normalization_type}") + + +def binarize_gripper_actions(actions: tf.Tensor) -> tf.Tensor: + """ + Converts gripper actions from continuous to binary values (0 and 1). + + We exploit that fact that most of the time, the gripper is fully open (near 1.0) or fully closed (near 0.0). As it + transitions between the two, it sometimes passes through a few intermediate values. We relabel those intermediate + values based on the state that is reached _after_ those intermediate values. + + In the edge case that the trajectory ends with an intermediate value, we give up on binarizing and relabel that + chunk of intermediate values as the last action in the trajectory. + + The `scan_fn` implements the following logic: + new_actions = np.empty_like(actions) + carry = actions[-1] + for i in reversed(range(actions.shape[0])): + if in_between_mask[i]: + carry = carry + else: + carry = float(open_mask[i]) + new_actions[i] = carry + """ + open_mask, closed_mask = actions > 0.95, actions < 0.05 + in_between_mask = tf.logical_not(tf.logical_or(open_mask, closed_mask)) + is_open_float = tf.cast(open_mask, tf.float32) + + def scan_fn(carry, i): + return tf.cond(in_between_mask[i], lambda: tf.cast(carry, tf.float32), lambda: is_open_float[i]) + + return tf.scan(scan_fn, tf.range(tf.shape(actions)[0]), actions[-1], reverse=True) + + +def invert_gripper_actions(actions: tf.Tensor) -> tf.Tensor: + return 1 - actions + + +def rel2abs_gripper_actions(actions: tf.Tensor) -> tf.Tensor: + """ + Converts relative gripper actions (+1 for closing, -1 for opening) to absolute actions (0 = closed; 1 = open). + + Assumes that the first relative gripper is not redundant (i.e. close when already closed)! + """ + # Note =>> -1 for closing, 1 for opening, 0 for no change + opening_mask, closing_mask = actions < -0.1, actions > 0.1 + thresholded_actions = tf.where(opening_mask, 1, tf.where(closing_mask, -1, 0)) + + def scan_fn(carry, i): + return tf.cond(thresholded_actions[i] == 0, lambda: carry, lambda: thresholded_actions[i]) + + # If no relative grasp, assumes open for whole trajectory + start = -1 * thresholded_actions[tf.argmax(thresholded_actions != 0, axis=0)] + start = tf.cond(start == 0, lambda: 1, lambda: start) + + # Note =>> -1 for closed, 1 for open + new_actions = tf.scan(scan_fn, tf.range(tf.shape(actions)[0]), start) + new_actions = tf.cast(new_actions, tf.float32) / 2 + 0.5 + + return new_actions + + +# === Bridge-V2 =>> Dataset-Specific Transform === +def relabel_bridge_actions(traj: Dict[str, Any]) -> Dict[str, Any]: + """Relabels actions to use reached proprioceptive state; discards last timestep (no-action).""" + movement_actions = traj["observation"]["state"][1:, :6] - traj["observation"]["state"][:-1, :6] + traj_truncated = tf.nest.map_structure(lambda x: x[:-1], traj) + traj_truncated["action"] = tf.concat([movement_actions, traj["action"][:-1, -1:]], axis=1) + + return traj_truncated + + +# === RLDS Dataset Initialization Utilities === +def pprint_data_mixture(dataset_kwargs_list: List[Dict[str, Any]], dataset_weights: List[int]) -> None: + print("\n######################################################################################") + print(f"# Loading the following {len(dataset_kwargs_list)} datasets (incl. sampling weight):{'': >24} #") + for dataset_kwargs, weight in zip(dataset_kwargs_list, dataset_weights): + pad = 80 - len(dataset_kwargs["name"]) + print(f"# {dataset_kwargs['name']}: {weight:=>{pad}f} #") + print("######################################################################################\n") + + +def get_dataset_statistics( + dataset: dl.DLataset, + hash_dependencies: Tuple[str, ...], + save_dir: Optional[str] = None, +) -> Dict: + """ + Either computes the statistics of a dataset or loads them from a cache file if this function has been called before + with the same `hash_dependencies`. + + Currently, the statistics include the min/max/mean/std of the actions and proprio as well as the number of + transitions and trajectories in the dataset. + """ + unique_hash = hashlib.sha256("".join(hash_dependencies).encode("utf-8"), usedforsecurity=False).hexdigest() + + # Fallback local path for when data_dir is not writable or not provided + local_path = os.path.expanduser(os.path.join("~", ".cache", "orca", f"dataset_statistics_{unique_hash}.json")) + if save_dir is not None: + path = tf.io.gfile.join(save_dir, f"dataset_statistics_{unique_hash}.json") + else: + path = local_path + + # check if cache file exists and load + if tf.io.gfile.exists(path): + overwatch.info(f"Loading existing dataset statistics from {path}.") + with tf.io.gfile.GFile(path, "r") as f: + metadata = json.load(f) + return metadata + + if os.path.exists(local_path): + overwatch.info(f"Loading existing dataset statistics from {local_path}.") + with open(local_path, "r") as f: + metadata = json.load(f) + return metadata + + dataset = dataset.traj_map( + lambda traj: { + "action": traj["action"], + "proprio": ( + traj["observation"]["proprio"] if "proprio" in traj["observation"] else tf.zeros_like(traj["action"]) + ), + } + ) + + cardinality = dataset.cardinality().numpy() + if cardinality == tf.data.INFINITE_CARDINALITY: + raise ValueError("Cannot compute dataset statistics for infinite datasets.") + + overwatch.info("Computing dataset statistics. This may take a bit, but should only need to happen once.") + actions, proprios, num_transitions, num_trajectories = [], [], 0, 0 + for traj in tqdm(dataset.iterator(), total=cardinality if cardinality != tf.data.UNKNOWN_CARDINALITY else None): + actions.append(traj["action"]) + proprios.append(traj["proprio"]) + num_transitions += traj["action"].shape[0] + num_trajectories += 1 + + actions, proprios = np.concatenate(actions), np.concatenate(proprios) + metadata = { + "action": { + "mean": actions.mean(0).tolist(), + "std": actions.std(0).tolist(), + "max": actions.max(0).tolist(), + "min": actions.min(0).tolist(), + "q01": np.quantile(actions, 0.01, axis=0).tolist(), + "q99": np.quantile(actions, 0.99, axis=0).tolist(), + }, + "proprio": { + "mean": proprios.mean(0).tolist(), + "std": proprios.std(0).tolist(), + "max": proprios.max(0).tolist(), + "min": proprios.min(0).tolist(), + "q01": np.quantile(proprios, 0.01, axis=0).tolist(), + "q99": np.quantile(proprios, 0.99, axis=0).tolist(), + }, + "num_transitions": num_transitions, + "num_trajectories": num_trajectories, + } + + try: + with tf.io.gfile.GFile(path, "w") as f: + json.dump(metadata, f) + except tf.errors.PermissionDeniedError: + overwatch.warning(f"Could not write dataset statistics to {path}. Writing to {local_path} instead.") + os.makedirs(os.path.dirname(local_path), exist_ok=True) + with open(local_path, "w") as f: + json.dump(metadata, f) + + return metadata + + +def save_dataset_statistics(dataset_statistics, run_dir): + """Saves a `dataset_statistics.json` file.""" + out_path = run_dir / "dataset_statistics.json" + with open(out_path, "w") as f_json: + for _, stats in dataset_statistics.items(): + for k in stats["action"].keys(): + if isinstance(stats["action"][k], np.ndarray): + stats["action"][k] = stats["action"][k].tolist() + if "proprio" in stats: + for k in stats["proprio"].keys(): + if isinstance(stats["proprio"][k], np.ndarray): + stats["proprio"][k] = stats["proprio"][k].tolist() + if "num_trajectories" in stats: + if isinstance(stats["num_trajectories"], np.ndarray): + stats["num_trajectories"] = stats["num_trajectories"].item() + if "num_transitions" in stats: + if isinstance(stats["num_transitions"], np.ndarray): + stats["num_transitions"] = stats["num_transitions"].item() + json.dump(dataset_statistics, f_json, indent=2) + overwatch.info(f"Saved dataset statistics file at path {out_path}") + + +def allocate_threads(n: Optional[int], weights: np.ndarray): + """ + Allocates an integer number of threads across datasets based on weights. + + The final array sums to `n`, but each element is no less than 1. If `n` is None, then every dataset is assigned a + value of AUTOTUNE. + """ + if n is None: + return np.array([tf.data.AUTOTUNE] * len(weights)) + + assert np.all(weights >= 0), "Weights must be non-negative" + assert len(weights) <= n, "Number of threads must be at least as large as length of weights" + weights = np.array(weights) / np.sum(weights) + + allocation = np.zeros_like(weights, dtype=int) + while True: + # Give the remaining elements that would get less than 1 a 1 + mask = (weights * n < 1) & (weights > 0) + if not mask.any(): + break + n -= mask.sum() + allocation += mask.astype(int) + + # Recompute the distribution over the remaining elements + weights[mask] = 0 + weights = weights / weights.sum() + + # Allocate the remaining elements + fractional, integral = np.modf(weights * n) + allocation += integral.astype(int) + n -= integral.sum() + for i in np.argsort(fractional)[::-1][: int(n)]: + allocation[i] += 1 + + return allocation diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/utils/goal_relabeling.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/utils/goal_relabeling.py new file mode 100644 index 0000000000000000000000000000000000000000..4864d2b772e53ca75cb03b50efb5921d2deae50c --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/utils/goal_relabeling.py @@ -0,0 +1,32 @@ +""" +goal_relabeling.py + +Contains simple goal relabeling logic for BC use-cases where rewards and next_observations are not required. +Each function should add entries to the "task" dict. +""" + +from typing import Dict + +import tensorflow as tf + +from prismatic.vla.datasets.rlds.utils.data_utils import tree_merge + + +def uniform(traj: Dict) -> Dict: + """Relabels with a true uniform distribution over future states.""" + traj_len = tf.shape(tf.nest.flatten(traj["observation"])[0])[0] + + # Select a random future index for each transition i in the range [i + 1, traj_len) + rand = tf.random.uniform([traj_len]) + low = tf.cast(tf.range(traj_len) + 1, tf.float32) + high = tf.cast(traj_len, tf.float32) + goal_idxs = tf.cast(rand * (high - low) + low, tf.int32) + + # Sometimes there are floating-point errors that cause an out-of-bounds + goal_idxs = tf.minimum(goal_idxs, traj_len - 1) + + # Adds keys to "task" mirroring "observation" keys (`tree_merge` to combine "pad_mask_dict" properly) + goal = tf.nest.map_structure(lambda x: tf.gather(x, goal_idxs), traj["observation"]) + traj["task"] = tree_merge(traj["task"], goal) + + return traj diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/utils/task_augmentation.py b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/utils/task_augmentation.py new file mode 100644 index 0000000000000000000000000000000000000000..425b57303a4d06dd60ccdc05b7ef51f328e68b18 --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/rlds/utils/task_augmentation.py @@ -0,0 +1,57 @@ +""" +task_augmentation.py + +Contains basic logic for randomly zeroing out keys in the task specification. +""" + +from typing import Dict + +import tensorflow as tf + +from prismatic.vla.datasets.rlds.utils.data_utils import to_padding + + +def delete_task_conditioning(traj: Dict, keep_image_prob: float) -> Dict: + """ + Randomly drops out either the goal images or the language instruction. Only does something if both of + these are present. + + Args: + traj: A dictionary containing trajectory data. Should have a "task" key. + keep_image_prob: The probability of keeping the goal images. The probability of keeping the language + instruction is 1 - keep_image_prob. + """ + if "language_instruction" not in traj["task"]: + return traj + + image_keys = {key for key in traj["task"].keys() if key.startswith("image_") or key.startswith("depth_")} + if not image_keys: + return traj + + traj_len = tf.shape(traj["action"])[0] + should_keep_images = tf.random.uniform([traj_len]) < keep_image_prob + should_keep_images |= ~traj["task"]["pad_mask_dict"]["language_instruction"] + + for key in image_keys | {"language_instruction"}: + should_keep = should_keep_images if key in image_keys else ~should_keep_images + # pad out the key + traj["task"][key] = tf.where( + should_keep, + traj["task"][key], + to_padding(traj["task"][key]), + ) + # zero out the pad mask dict for the key + traj["task"]["pad_mask_dict"][key] = tf.where( + should_keep, + traj["task"]["pad_mask_dict"][key], + tf.zeros_like(traj["task"]["pad_mask_dict"][key]), + ) + + # when no goal images are present, the goal timestep becomes the final timestep + traj["task"]["timestep"] = tf.where( + should_keep_images, + traj["task"]["timestep"], + traj_len - 1, + ) + + return traj diff --git a/VLA-Adapter-UAV/prismatic/vla/datasets/uav_flow_dataset.py b/VLA-Adapter-UAV/prismatic/vla/datasets/uav_flow_dataset.py new file mode 100644 index 0000000000000000000000000000000000000000..e74b2947bafdc813954b85f6cf633b713558d73c --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/datasets/uav_flow_dataset.py @@ -0,0 +1,441 @@ +"""PyTorch dataset adapter for UAV-Flow folder-format trajectories. + +Reads UAV-Flow episodes from ``/log.json + frame images`` and produces +training samples compatible with VLA-Adapter's training pipeline (including action +chunking, Qwen chat-format prompts, and BOUNDS_Q99 normalization). +""" + +import json +import logging +import random +from pathlib import Path +from typing import Any, Dict, List, Optional, Tuple, Union + +import numpy as np +import torch +from PIL import Image +from torch.utils.data import Dataset +from transformers import PreTrainedTokenizerBase + +from prismatic.models.backbones.llm.prompting import PromptBuilder, QwenPromptBuilder +from prismatic.models.backbones.vision import ImageTransform +from prismatic.vla.action_tokenizer import ActionTokenizer +from prismatic.vla.constants import ( + ACTION_DIM, + IGNORE_INDEX, + NUM_ACTIONS_CHUNK, + NUM_TOKENS, + PROPRIO_DIM, +) + +logger = logging.getLogger(__name__) + + +class UAVFlowDataset(Dataset): + """Reads UAV-Flow episodes from ``/log.json + frame jpg/png`` folders. + + Each episode folder must contain: + - ``log.json`` with keys ``raw_logs``, ``preprocessed_logs``, ``instruction``, ``instruction_unified`` + - Image files (``.jpg``, ``.jpeg``, ``.png``) sorted alphabetically + + The dataset computes relative actions in the UAV's current-body frame, normalizes + actions and proprioception with BOUNDS_Q99, builds Qwen chat-format prompts, and + returns samples compatible with ``PaddedCollatorForActionPrediction``. + """ + + dataset_key = "uav" + + def __init__( + self, + data_path: Union[str, Path], + image_transform: ImageTransform, + tokenizer: PreTrainedTokenizerBase, + action_tokenizer: ActionTokenizer, + prompt_builder_fn: type[PromptBuilder], + image_aug: bool = False, + repeat_terminal_frames: int = 5, + flight_cot_labels_path: Optional[Union[str, Path]] = None, + cot_max_tokens: int = 160, + plan_warmup_only: bool = False, + cot_labeled_episodes_only: bool = False, + append_flight_cot_to_prompt: bool = False, + ) -> None: + """ + Args: + data_path: Path to the directory containing episode subdirectories. + image_transform: Callable that processes a PIL image into a tensor. + tokenizer: HuggingFace tokenizer (Qwen2.5-0.5B). + action_tokenizer: ``ActionTokenizer`` for discretizing continuous actions. + prompt_builder_fn: Prompt builder class (should be ``QwenPromptBuilder`` for VLA-Adapter). + image_aug: Whether to apply image augmentation (handled externally). + repeat_terminal_frames: How many times to repeat the first and last frame of each episode (data balancing). + """ + self.data_path = Path(data_path) + self.image_transform = image_transform + self.tokenizer = tokenizer + self.action_tokenizer = action_tokenizer + self.prompt_builder_fn = prompt_builder_fn + self.image_aug = image_aug + self.repeat_terminal_frames = repeat_terminal_frames + self.cot_max_tokens = cot_max_tokens + self.plan_warmup_only = plan_warmup_only + self.cot_labeled_episodes_only = cot_labeled_episodes_only + self.append_flight_cot_to_prompt = append_flight_cot_to_prompt + self.flight_cot_by_episode = self._load_flight_cot_labels(flight_cot_labels_path) + + self.episodes = self._load_episodes() + if not self.episodes: + raise ValueError(f"No valid UAV-Flow episodes found in {self.data_path}") + + self._compute_dataset_statistics() + self.samples = self._build_samples() + + @staticmethod + def _load_flight_cot_labels(path: Optional[Union[str, Path]]) -> Dict[str, str]: + if path is None: + return {} + path = Path(path) + if not path.is_file(): + raise FileNotFoundError(f"Flight-CoT labels not found: {path}") + labels: Dict[str, str] = {} + with path.open("r", encoding="utf-8") as handle: + for line in handle: + if not line.strip(): + continue + row = json.loads(line) + if row.get("status") == "ok" and row.get("episode_id") and row.get("flight_cot"): + labels[str(row["episode_id"])] = str(row["flight_cot"]) + if not labels: + raise ValueError(f"No successful Flight-CoT labels found in {path}") + return labels + + # ------------------------------------------------------------------ + # Data Loading + # ------------------------------------------------------------------ + + def _load_episodes(self) -> List[Dict[str, Any]]: + """Scan ``data_path`` for episode directories and process each one.""" + episodes: List[Dict[str, Any]] = [] + for episode_dir in sorted(self.data_path.iterdir()): + if not episode_dir.is_dir(): + continue + + log_path = episode_dir / "log.json" + if not log_path.exists(): + continue + + try: + with open(log_path, "r", encoding="utf-8") as f: + episode_data = json.load(f) + episode = self._process_episode(episode_data, episode_dir) + except Exception as exc: + logger.warning("Failed to process %s: %s", episode_dir, exc) + episode = None + + if episode is not None: + episodes.append(episode) + + return episodes + + def _process_episode( + self, episode_data: Dict[str, Any], episode_dir: Path + ) -> Optional[Dict[str, Any]]: + """Convert a single episode's ``log.json`` + images into internal format.""" + # Collect image paths + image_paths = sorted( + p for p in episode_dir.iterdir() if p.suffix.lower() in {".jpg", ".jpeg", ".png"} + ) + if not image_paths: + return None + + raw_logs = np.asarray(episode_data["raw_logs"], dtype=np.float32) + preprocessed_logs = np.asarray(episode_data["preprocessed_logs"], dtype=np.float32) + + horizon = min(len(image_paths), raw_logs.shape[0], preprocessed_logs.shape[0]) + if horizon < 1: + return None + + image_paths = image_paths[:horizon] + + # Extract pose columns: [X, Y, Z, yaw_degrees] (indices 0, 1, 2, 4) + raw_pose = raw_logs[:horizon, [0, 1, 2, 4]].copy() + proprio = preprocessed_logs[:horizon, [0, 1, 2, 4]].copy() + + if not np.isfinite(raw_pose).all() or not np.isfinite(proprio).all(): + logger.warning("Skipping %s because log.json contains NaN/Inf pose values.", episode_dir) + return None + + # Convert yaw from degrees to radians for action computation + raw_pose[:, 3] = np.deg2rad(raw_pose[:, 3]) + + # Compute relative actions in current-body local frame + actions = np.zeros((horizon, ACTION_DIM), dtype=np.float32) + for idx in range(horizon - 1): + actions[idx] = self._transform_to_local_frame(raw_pose[idx], raw_pose[idx + 1]) + + if not np.isfinite(actions).all(): + logger.warning("Skipping %s because computed actions contain NaN/Inf values.", episode_dir) + return None + + instruction = ( + episode_data.get("instruction") + or episode_data.get("instruction_unified") + or "follow the instruction" + ) + + return { + "image_paths": image_paths, + "actions": actions.astype(np.float32), + "proprio": proprio.astype(np.float32), + "instruction": instruction, + "episode_id": episode_dir.name, + } + + # ------------------------------------------------------------------ + # Coordinate Transform + # ------------------------------------------------------------------ + + @staticmethod + def _transform_to_local_frame(current_pose: np.ndarray, next_pose: np.ndarray) -> np.ndarray: + """Compute ``next_pose`` expressed in the body frame of ``current_pose``. + + Args: + current_pose: ``[x, y, z, yaw_rad]`` of the current frame. + next_pose: ``[x, y, z, yaw_rad]`` of the next frame. + + Returns: + ``[dx_local, dy_local, dz, dyaw]`` where dx/dy are rotated into the + current body frame. + """ + current_pos, current_yaw = current_pose[:3], current_pose[3] + next_pos, next_yaw = next_pose[:3], next_pose[3] + + cos_yaw, sin_yaw = np.cos(current_yaw), np.sin(current_yaw) + rotation = np.array( + [ + [cos_yaw, -sin_yaw, 0.0], + [sin_yaw, cos_yaw, 0.0], + [0.0, 0.0, 1.0], + ], + dtype=np.float32, + ) + + local_pos = np.linalg.inv(rotation) @ (next_pos - current_pos) + relative_yaw = (next_yaw - current_yaw + np.pi) % (2 * np.pi) - np.pi + + return np.asarray([local_pos[0], local_pos[1], local_pos[2], relative_yaw], dtype=np.float32) + + # ------------------------------------------------------------------ + # Normalization (BOUNDS_Q99) + # ------------------------------------------------------------------ + + def _compute_dataset_statistics(self) -> None: + """Compute q01/q99 percentiles across all actions and proprio values.""" + all_actions = np.concatenate([ep["actions"] for ep in self.episodes], axis=0) + all_proprio = np.concatenate([ep["proprio"] for ep in self.episodes], axis=0) + + self.action_low = np.percentile(all_actions, 1, axis=0).astype(np.float32) + self.action_high = np.percentile(all_actions, 99, axis=0).astype(np.float32) + self.proprio_low = np.percentile(all_proprio, 1, axis=0).astype(np.float32) + self.proprio_high = np.percentile(all_proprio, 99, axis=0).astype(np.float32) + + # Build statistics dict compatible with VLA-Adapter's save/load patterns + self.dataset_statistics = { + self.dataset_key: { + "action": self._stats_dict(all_actions), + "proprio": self._stats_dict(all_proprio), + "num_trajectories": len(self.episodes), + "num_transitions": int(sum(len(ep["actions"]) for ep in self.episodes)), + } + } + + @staticmethod + def _stats_dict(values: np.ndarray) -> Dict[str, np.ndarray]: + """Return per-dimension statistics for a value array.""" + return { + "mean": np.mean(values, axis=0).astype(np.float32), + "std": np.std(values, axis=0).astype(np.float32), + "min": np.min(values, axis=0).astype(np.float32), + "max": np.max(values, axis=0).astype(np.float32), + "q01": np.percentile(values, 1, axis=0).astype(np.float32), + "q99": np.percentile(values, 99, axis=0).astype(np.float32), + "mask": np.ones(values.shape[1], dtype=bool), + } + + @staticmethod + def _normalize_bounds(values: np.ndarray, low: np.ndarray, high: np.ndarray) -> np.ndarray: + """Normalize ``values`` to [-1, 1] using percentile bounds.""" + normalized = 2 * (values - low) / (high - low + 1e-8) - 1 + return np.clip(normalized, -1.0, 1.0).astype(np.float32) + + # ------------------------------------------------------------------ + # Sample Construction + # ------------------------------------------------------------------ + + def _build_samples(self) -> List[Dict[str, Any]]: + """Create a shuffled list of (episode_idx, frame_idx) sample references.""" + samples: List[Dict[str, Any]] = [] + skipped_without_cot = 0 + for episode_idx, episode in enumerate(self.episodes): + has_cot_label = episode["episode_id"] in self.flight_cot_by_episode + # 第一阶段只能学习存在的 CoT 标签；第二阶段则必须保留所有轨迹， + # 缺标签 episode 仍然提供动作监督。 + if (self.plan_warmup_only or self.cot_labeled_episodes_only) and not has_cot_label: + skipped_without_cot += 1 + continue + num_frames = len(episode["image_paths"]) + if self.plan_warmup_only: + samples.append({"episode_idx": episode_idx, "frame_idx": 0, "cot_supervision": True}) + continue + for frame_idx in range(num_frames): + sample = { + "episode_idx": episode_idx, + "frame_idx": frame_idx, + # 一条轨迹在每个 epoch 仅有一个 CoT 文本监督项；终点/首帧重复 + # 样本仍用于动作监督，避免它们重复放大 CoT loss。 + # With CoT-only episodes, supervise the same first-frame plan + # on every action frame so each joint-SFT batch has CoT loss. + "cot_supervision": has_cot_label if self.cot_labeled_episodes_only else frame_idx == 0 and has_cot_label, + } + samples.append(sample) + # Repeat terminal frames for data balancing + if frame_idx in (0, num_frames - 1): + repeated = sample.copy() + repeated["cot_supervision"] = has_cot_label if self.cot_labeled_episodes_only else False + samples.extend([repeated.copy() for _ in range(self.repeat_terminal_frames)]) + if self.cot_labeled_episodes_only: + logger.info( + "Flight-CoT joint training keeps %d labeled episodes and drops %d episodes without CoT labels.", + len(self.episodes) - skipped_without_cot, + skipped_without_cot, + ) + random.shuffle(samples) + return samples + + def _get_action_chunk(self, episode: Dict[str, Any], frame_idx: int) -> np.ndarray: + """Return ``(NUM_ACTIONS_CHUNK, ACTION_DIM)`` normalized actions starting at ``frame_idx``.""" + actions = episode["actions"] + chunk = [] + for offset in range(NUM_ACTIONS_CHUNK): + action_idx = min(frame_idx + offset, len(actions) - 1) + chunk.append(actions[action_idx]) + chunk_arr = np.stack(chunk, axis=0) # (NUM_ACTIONS_CHUNK, ACTION_DIM) + return self._normalize_bounds(chunk_arr, self.action_low, self.action_high) + + def _build_action_token_ids(self, action_chunk: np.ndarray) -> List[int]: + """Discretize the normalized action chunk into token IDs and pad to ``NUM_TOKENS``. + + With ``ACTION_DIM=4`` and ``NUM_ACTIONS_CHUNK=8`` the raw count is 32 tokens. + They are padded/truncated to exactly ``NUM_TOKENS=64`` by random repetition. + """ + # Flatten chunk: (NUM_ACTIONS_CHUNK, ACTION_DIM) -> NUM_ACTIONS_CHUNK * ACTION_DIM + flat = action_chunk.reshape(-1) + token_ids = self.action_tokenizer(flat, use_minivlm=True) # list of ints + flattened = list(token_ids) + + if len(flattened) >= NUM_TOKENS: + return flattened[:NUM_TOKENS] + + if not flattened: + fill_token = self.action_tokenizer.action_token_begin_idx + 1 + return [fill_token] * NUM_TOKENS + + return flattened + random.choices(flattened, k=NUM_TOKENS - len(flattened)) + + def _transform_image(self, image: Image.Image) -> torch.Tensor: + """Apply the image transform and return a tensor.""" + pixel_values = self.image_transform(image) + if isinstance(pixel_values, dict): + pixel_values = pixel_values["pixel_values"][0] + if isinstance(pixel_values, np.ndarray): + pixel_values = torch.from_numpy(pixel_values) + return pixel_values + + def _build_prompt_ids(self, episode: Dict[str, Any], frame_idx: int, action_chunk: np.ndarray) -> Tuple[List[int], List[int]]: + """构造当前控制步的动作监督 prompt。 + + Flight-CoT 不拼接到这里：动作头读取的是学生 CoT 分支产生的 latent + memory，而不是训练标签中的教师文本，避免训练/推理不一致。 + """ + prompt_builder = QwenPromptBuilder("openvla") + proprio_text = ",".join(str(round(float(x), 1)) for x in episode["proprio"][frame_idx]) + prompt_builder.add_turn( + "human", + f"Current State: {proprio_text}, What action should the uav take to {episode['instruction'].lower()}?", + ) + prompt_builder.add_turn("gpt", "") + input_ids = self.tokenizer(prompt_builder.get_prompt(), add_special_tokens=True).input_ids + if len(input_ids) >= 3: + input_ids = input_ids[:-3] + input_ids = input_ids + self._build_action_token_ids(action_chunk) + labels = list(input_ids) + labels[: -(NUM_TOKENS + 1)] = [IGNORE_INDEX] * (len(labels) - (NUM_TOKENS + 1)) + return input_ids, labels + + def _build_first_frame_prompt_ids(self, episode: Dict[str, Any]) -> torch.Tensor: + """构造首帧规划分支输入；不附带动作 token 或教师 CoT。""" + prompt_builder = QwenPromptBuilder("openvla") + proprio_text = ",".join(str(round(float(x), 1)) for x in episode["proprio"][0]) + prompt_builder.add_turn( + "human", + f"Initial State: {proprio_text}, Understand the flight task: {episode['instruction'].lower()}.", + ) + prompt_builder.add_turn("gpt", "") + input_ids = self.tokenizer(prompt_builder.get_prompt(), add_special_tokens=True).input_ids + return torch.tensor(input_ids[:-3] if len(input_ids) >= 3 else input_ids, dtype=torch.long) + + # ------------------------------------------------------------------ + # PyTorch Dataset Interface + # ------------------------------------------------------------------ + + def __getitem__(self, idx: int) -> Dict[str, Any]: + sample = self.samples[idx] + episode = self.episodes[sample["episode_idx"]] + frame_idx = sample["frame_idx"] + + # Image + image = Image.open(episode["image_paths"][frame_idx]).convert("RGB") + current_pixel_values = self._transform_image(image) + + # Normalized action chunk and proprio + action_chunk = self._get_action_chunk(episode, frame_idx) # (8, 4) + proprio_norm = self._normalize_bounds( + episode["proprio"][frame_idx], self.proprio_low, self.proprio_high + ) # (4,) + + input_ids, labels = self._build_prompt_ids(episode, frame_idx, action_chunk) + + # 首帧信息是 episode 固定上下文；后续动作样本也必须携带它。 + first_image = Image.open(episode["image_paths"][0]).convert("RGB") + first_pixel_values = current_pixel_values if frame_idx == 0 else self._transform_image(first_image) + initial_proprio_norm = self._normalize_bounds(episode["proprio"][0], self.proprio_low, self.proprio_high) + + result = { + "pixel_values": torch.cat((first_pixel_values, current_pixel_values), dim=0), + "input_ids": torch.tensor(input_ids, dtype=torch.long), + "labels": torch.tensor(labels, dtype=torch.long), + "actions": action_chunk, # (8, 4) float32 numpy + "proprio": np.stack((initial_proprio_norm, proprio_norm)).astype(np.float32), + "is_initial_frame": frame_idx == 0, + "cot_supervision": sample["cot_supervision"], + "dataset_name": self.dataset_key, + } + cot_text = self.flight_cot_by_episode.get(episode["episode_id"]) + bos = self.tokenizer.bos_token_id if self.tokenizer.bos_token_id is not None else self.tokenizer.eos_token_id + if bos is None: + raise ValueError("Tokenizer needs a BOS or EOS token for Flight-CoT decoding") + if cot_text is not None: + cot_ids = self.tokenizer(cot_text, add_special_tokens=False).input_ids[: self.cot_max_tokens] + if not cot_ids: + raise ValueError(f"Empty Flight-CoT label for {episode['episode_id']}") + result["cot_input_ids"] = torch.tensor([bos] + cot_ids[:-1], dtype=torch.long) + result["cot_labels"] = torch.tensor(cot_ids, dtype=torch.long) + else: + # 保持 batch 字段和形状一致；该样本的 cot_supervision=False， + # 因而此占位 token 不会参与 CoT loss。 + result["cot_input_ids"] = torch.tensor([bos], dtype=torch.long) + result["cot_labels"] = torch.tensor([IGNORE_INDEX], dtype=torch.long) + return result + + def __len__(self) -> int: + return len(self.samples) diff --git a/VLA-Adapter-UAV/prismatic/vla/materialize.py b/VLA-Adapter-UAV/prismatic/vla/materialize.py new file mode 100644 index 0000000000000000000000000000000000000000..e61e66d9987064e164a4f70166cc1420da73051e --- /dev/null +++ b/VLA-Adapter-UAV/prismatic/vla/materialize.py @@ -0,0 +1,58 @@ +""" +materialize.py + +Factory class for initializing Open-X RLDS-backed datasets, given specified data mixture parameters; provides and +exports individual functions for clear control flow. +""" + +from pathlib import Path +from typing import Tuple, Type + +from torch.utils.data import Dataset +from transformers import PreTrainedTokenizerBase + +from prismatic.models.backbones.llm.prompting import PromptBuilder +from prismatic.models.backbones.vision import ImageTransform +from prismatic.util.data_utils import PaddedCollatorForActionPrediction +from prismatic.vla.action_tokenizer import ActionTokenizer + + +def get_vla_dataset_and_collator( + data_root_dir: Path, + data_mix: str, + image_transform: ImageTransform, + tokenizer: PreTrainedTokenizerBase, + prompt_builder_fn: Type[PromptBuilder], + default_image_resolution: Tuple[int, int, int], + padding_side: str = "right", + predict_stop_token: bool = True, + shuffle_buffer_size: int = 100_000, + train: bool = True, + episodic: bool = False, + image_aug: bool = False, +) -> Tuple[Dataset, ActionTokenizer, PaddedCollatorForActionPrediction]: + """Initialize RLDS Dataset (wraps TFDS), ActionTokenizer, and initialize transform/collation functions.""" + # Lazy-import RLDS classes only when this function is actually called + from prismatic.vla.datasets import EpisodicRLDSDataset, RLDSBatchTransform, RLDSDataset + + action_tokenizer = ActionTokenizer(tokenizer) + batch_transform = RLDSBatchTransform( + action_tokenizer, tokenizer, image_transform, prompt_builder_fn, predict_stop_token=predict_stop_token + ) + collator = PaddedCollatorForActionPrediction( + tokenizer.model_max_length, tokenizer.pad_token_id, padding_side=padding_side + ) + + # Build RLDS Iterable Dataset + cls = RLDSDataset if not episodic else EpisodicRLDSDataset + dataset = cls( + data_root_dir, + data_mix, + batch_transform, + resize_resolution=default_image_resolution[1:], + shuffle_buffer_size=shuffle_buffer_size, + train=train, + image_aug=image_aug, + ) + + return dataset, action_tokenizer, collator diff --git a/VLA-Adapter-UAV/scripts/additional-datasets/lrv_instruct.py b/VLA-Adapter-UAV/scripts/additional-datasets/lrv_instruct.py new file mode 100644 index 0000000000000000000000000000000000000000..4440ac6259fabe318b89950617daa5e7d8b47ed5 --- /dev/null +++ b/VLA-Adapter-UAV/scripts/additional-datasets/lrv_instruct.py @@ -0,0 +1,152 @@ +""" +scripts/additional-datasets/lrv_instruct.py + +Standalone script for pre-processing the LRV-Instruct data (including the chart/diagram reasoning split). This isn't +full conversational chat data, but rather each example has an input prompt and output response; we'll use this structure +to format the data equivalently to the LLaVa-v1.5 dataset. + +In general, LRV Instruct provides *both positive and negative* examples -- where a negative example is a question or +instruction that is *not answerable* or *irrelevant*; the goal of this dataset is to reduce hallucinations in VLMs. + +This script downloads the raw instruct data (three different JSON files), as well as the image files; the non-chart +images come from Visual Genome, but are hosted separately by the LRV Instruct authors and use different image IDs, so +we're downloading this data (again) for simplicity. The chart images come from the LRV Instruct authors, and are sourced +from statista.com. All file URLS are here: https://github.com/FuxiaoLiu/LRV-Instruction/blob/main/download.txt#L20 + +Note that we are using the *coordinate-free* data (due to noted inaccuracies in the original coordinates). + +Make sure to download the images first to `data/download/llava-v1.5-instruct/lrv` + => cd data/download/llava-v1.5-instruct/lrv + => [Visual Genome] gdown https://drive.google.com/uc?id=1k9MNV-ImEV9BYEOeLEIb4uGEUZjd3QbM + => `tar -xvf image.tar.gz; mv image lrv-vg; rm image.tar.gz` + => [Chart Data] gdown https://drive.google.com/uc?id=1Dey-undzW2Nl21CYLFSkP_Y4RrfRJkYd + => `unzip chart_image.zip; rm -rf __MACOSX; mv chart_image lrv-chart; rm chart_image.zip` + +Download the raw JSON files to the same directory - `data/download/llava-v1.5-instruct/lrv` + => [LRV Instruct Pt. 1] gdown https://drive.google.com/uc?id=1pWkxE2kqpys1VdwBi99ZXN6-XY5SqhwU + => `filter_cap1.json` + => [LRV Instruct Pt. II] gdown https://drive.google.com/uc?id=1NTxkuRPlvDn7aWaJpK_yb0p5r0cxPLNZ + => `filter_cap_more1.json` + => [Chart Instruct] gdown https://drive.google.com/uc?id=13j2U-ectsYGR92r6J5hPdhT8T5ezItHF + => `chart_release_update.json` + +References: "Mitigating Hallucination in Large Multi-Modal Models via Robust Instruction Tuning" + => Paper: https://arxiv.org/abs/2306.14565 + => Github / Data: https://github.com/FuxiaoLiu/LRV-Instruction +""" + +import json +import random +from pathlib import Path + +from tqdm import tqdm + +# === Constants === +BASE_DIR = Path("data/download/llava-v1.5-instruct") +LRV_DIR = BASE_DIR / "lrv" + +VG_JSON_FILES, VG_IMG_DIR = [LRV_DIR / "filter_cap1.json", LRV_DIR / "filter_cap_more1.json"], LRV_DIR / "lrv-vg" +CHART_JSON_FILE, CHART_IMG_DIR = LRV_DIR / "chart_release_update.json", LRV_DIR / "lrv-chart" + +# JSON Files for "merged" variants fo the dataset (with `llava_v1_5_mix665k.json` and `llava_v1_5_lvis4v_mix888k.json` +BASE_JSON_FILE = BASE_DIR / "llava_v1_5_mix665k.json" +BASE_LVIS_JSON_FILE = BASE_DIR / "llava_v1_5_lvis4v_mix888k.json" + +MERGED_BASE_LRV_JSON_FILE = BASE_DIR / "llava_v1_5_lrv_mix1008k.json" +MERGED_BASE_LVIS_LRV_JSON_FILE = BASE_DIR / "llava_v1_5_lvis4v_lrv_mix1231k.json" + + +def build_lrv_instruct() -> None: + print("[*] Downloading and Formatting `LRV-Instruct` Dataset!") + + # Set Random Seed + random.seed(7) + + # Open VG JSON Files + vg_examples = [] + for fn in VG_JSON_FILES: + with open(fn, "r") as f: + vg_examples.extend(json.load(f)) + + # Iterate through VG Examples & Verify Image Existence + for example in tqdm(vg_examples, desc="[*] Verifying all VG Images in LRV Instruct"): + image_id = example["image_id"] + assert (VG_IMG_DIR / f"{image_id}.jpg").exists(), f"Missing Image `{image_id}.jpg`" + + # Open Chart JSON File + with open(CHART_JSON_FILE, "r") as f: + chart_examples = json.load(f) + + # Iterate through Chart Examples & Verify Image Existence + for example in tqdm(chart_examples, desc="[*] Verifying all Chart Images in LRV Instruct"): + image_path = example["image_id"] + assert (CHART_IMG_DIR / image_path).exists(), f"Missing Image `{image_path}`" + + # Reformat VG Examples as LLaVa "Chat" Style => List[Entry] where each Entry is a Dictionary: + # => "id": str + # => "image": str -- Relative path from `BASE_DIR` + # => "conversations: List[Turn] where Turn is a Dictionary: + # => {"from": "human", "value": "\n{VG_EXAMPLE['question']}"} + # => {"from": "gpt", "value": "{VG_EXAMPLE['answer']}"} + vg_chat_json = [] + for vg_example in tqdm(vg_examples, desc="[*] Converting all VG Examples to LLaVa Format"): + vg_chat_json.append( + { + "id": vg_example["image_id"], + "image": f"lrv/lrv-vg/{vg_example['image_id']}.jpg", + "conversations": [ + {"from": "human", "value": f"\n{vg_example['question'].strip()}"}, + {"from": "gpt", "value": vg_example["answer"].strip()}, + ], + } + ) + + # Reformat Chart Examples as LLaVa "Chat" Style + chart_chat_json = [] + for chart_example in tqdm(chart_examples, desc="[*] Converting all Chart Examples to LLaVa Format"): + chart_chat_json.append( + { + "id": Path(chart_example["image_id"]).stem, + "image": f"lrv/lrv-chart/{chart_example['image_id']}", + "conversations": [ + {"from": "human", "value": f"\n{chart_example['question'].strip()}"}, + {"from": "gpt", "value": chart_example["answer"].strip()}, + ], + } + ) + + # Merge and Create Full LRV Chat Data =>> Total of 342,799 Examples + lrv_data = vg_chat_json + chart_chat_json + + # Create Stacked Datasets =>> Shuffle for Good Measure! + print("[*] Loading LLaVa v1.5 Data!") + with open(BASE_JSON_FILE, "r") as f: + llava_v15_data = json.load(f) + + # Combine & Shuffle & Write + llava_lrv_data = llava_v15_data + lrv_data + + random.shuffle(llava_lrv_data) + random.shuffle(llava_lrv_data) + random.shuffle(llava_lrv_data) + + with open(MERGED_BASE_LRV_JSON_FILE, "w") as f: + json.dump(llava_lrv_data, f) + + print("[*] Loading LLaVa v1.5 + LVIS-4V Instruct Data!") + with open(BASE_LVIS_JSON_FILE, "r") as f: + llava_v15_lvis_data = json.load(f) + + # Combine & Shuffle & Write + full_data = llava_v15_lvis_data + lrv_data + + random.shuffle(full_data) + random.shuffle(full_data) + random.shuffle(full_data) + + with open(MERGED_BASE_LVIS_LRV_JSON_FILE, "w") as f: + json.dump(full_data, f) + + +if __name__ == "__main__": + build_lrv_instruct() diff --git a/VLA-Adapter-UAV/scripts/additional-datasets/lvis_instruct_4v.py b/VLA-Adapter-UAV/scripts/additional-datasets/lvis_instruct_4v.py new file mode 100644 index 0000000000000000000000000000000000000000..0a29f7e3741b361924389a3ab66452cb668026f9 --- /dev/null +++ b/VLA-Adapter-UAV/scripts/additional-datasets/lvis_instruct_4v.py @@ -0,0 +1,77 @@ +""" +scripts/additional-datasets/lvis_instruct4v.py + +Standalone script for pre-processing the LVIS-Instruct4V (language/chat) data (`lvis_instruct4v_220k.json`). This +dataset is curated from LVIS images (subset of COCO yet again), but chat data is synthesized from GPT4-Vision. + +This script downloads the raw data, merges with the LLaVa v15 data, and performs any other data normalization, saving +the resulting `.json` file(s) to the `data/download/llava-v1.5-instruct/` directory. + +Make sure to download the COCO Val 2017 (LVIS) data to `data/download/llava-v1.5-instruct/coco`: + => cd data/download/llava-v1.5-instruct/coco + => wget http://images.cocodataset.org/zips/val2017.zip + => unzip val2017.zip; rm val2017.zip + +References: "To See is to Believe: Prompting GPT-4V for Better Visual Instruction Tuning" + => Paper: https://arxiv.org/abs/2311.07574 + => Github / Data: https://github.com/X2FD/LVIS-INSTRUCT4V || https://huggingface.co/datasets/X2FD/LVIS-Instruct4V +""" + +import json +import os +import random +from pathlib import Path + +from tqdm import tqdm + +from prismatic.preprocessing.download import download_with_progress + +# === Constants === +DATA_URL = "https://huggingface.co/datasets/X2FD/LVIS-Instruct4V/resolve/main/lvis_instruct4v_220k.json" +DOWNLOAD_DIR = Path("data/download/llava-v1.5-instruct") +RAW_JSON_FILE = DOWNLOAD_DIR / "lvis_instruct4v_220k.json" + +# JSON Files for "merged" variant of the dataset (with `llava_v1_5_mix665k.json`) +BASE_JSON_FILE = DOWNLOAD_DIR / "llava_v1_5_mix665k.json" +MERGED_JSON_FILE = DOWNLOAD_DIR / "llava_v1_5_lvis4v_mix888k.json" + + +def build_lvis_instruct_4v() -> None: + print("[*] Downloading and Formatting `LVIS-Instruct-4V` Dataset!") + + # Set Random Seed + random.seed(7) + + # Download Dataset JSON + os.makedirs(DOWNLOAD_DIR, exist_ok=True) + if not RAW_JSON_FILE.exists(): + download_with_progress(DATA_URL, DOWNLOAD_DIR) + + # Open JSON File --> verify image existence! + print("[*] Loading LVIS Instruct4V Data!") + with open(RAW_JSON_FILE, "r") as f: + data = json.load(f) + + # Iterate & Verify + for example in tqdm(data, desc="[*] Verifying all Images in LVIS Instruct4V"): + image_path = example["image"] + assert (DOWNLOAD_DIR / image_path).exists(), f"Missing Image `{image_path}`" + + # Create Stacked Dataset =>> Shuffle for Good Measure! + print("[*] Loading LLaVa v1.5 Data!") + with open(BASE_JSON_FILE, "r") as f: + llava_v15_data = json.load(f) + + # Combine & Shuffle & Write + full_data = llava_v15_data + data + + random.shuffle(full_data) + random.shuffle(full_data) + random.shuffle(full_data) + + with open(MERGED_JSON_FILE, "w") as f: + json.dump(full_data, f) + + +if __name__ == "__main__": + build_lvis_instruct_4v() diff --git a/VLA-Adapter-UAV/scripts/check_uav_yaw_column.py b/VLA-Adapter-UAV/scripts/check_uav_yaw_column.py new file mode 100644 index 0000000000000000000000000000000000000000..cbba865e05c564c91bf75a5d54294e5c5a3cde9a --- /dev/null +++ b/VLA-Adapter-UAV/scripts/check_uav_yaw_column.py @@ -0,0 +1,155 @@ +"""Visual sanity check for UAV-Flow yaw column. + +Creates trajectory plots comparing raw_logs angle columns 3, 4, and 5 as heading +arrows. Column 4 is expected to be yaw in UAV-Flow. +""" + +import argparse +import json +import math +import random +from pathlib import Path + +import matplotlib.pyplot as plt +import numpy as np + + +def wrap_deg(angle): + return (angle + 180.0) % 360.0 - 180.0 + + +def circular_mae_deg(pred_deg, target_deg): + diff = wrap_deg(pred_deg - target_deg) + return float(np.mean(np.abs(diff))) + + +def best_offset_mae_deg(angle_deg, motion_heading_deg): + offsets = np.arange(-180.0, 181.0, 1.0) + maes = [circular_mae_deg(angle_deg + offset, motion_heading_deg) for offset in offsets] + best_idx = int(np.argmin(maes)) + return float(offsets[best_idx]), float(maes[best_idx]) + + +def load_episode(log_path): + with open(log_path, "r", encoding="utf-8") as f: + data = json.load(f) + raw = np.asarray(data["raw_logs"], dtype=np.float32) + instruction = data.get("instruction_unified") or data.get("instruction") or log_path.parent.name + return raw, instruction + + +def turn_score(log_path): + raw, _ = load_episode(log_path) + if raw.ndim != 2 or raw.shape[0] < 3 or raw.shape[1] < 6: + return -1.0 + yaw = np.deg2rad(raw[:, 4]) + dyaw = (np.diff(yaw) + np.pi) % (2 * np.pi) - np.pi + return float(np.percentile(np.abs(np.rad2deg(dyaw)), 95)) + + +def plot_episode(log_path, out_dir, stride): + raw, instruction = load_episode(log_path) + if raw.ndim != 2 or raw.shape[0] < 3 or raw.shape[1] < 6: + return None + + x = raw[:, 0] + y = raw[:, 1] + dx = np.diff(x) + dy = np.diff(y) + moving = np.hypot(dx, dy) > 1e-6 + if moving.sum() < 3: + return None + + motion_heading = np.degrees(np.arctan2(dy[moving], dx[moving])) + columns = [3, 4, 5] + scores = {} + for col in columns: + angle = raw[:-1, col][moving] + offset, mae = best_offset_mae_deg(angle, motion_heading) + scores[col] = (offset, mae) + + sample_idx = np.arange(0, len(raw), max(1, stride)) + fig, axes = plt.subplots(1, 3, figsize=(18, 5), constrained_layout=True) + fig.suptitle(f"{log_path.parent.name}\n{instruction}", fontsize=10) + + span = max(float(np.ptp(x)), float(np.ptp(y)), 1.0) + arrow_len = span * 0.045 + + for ax, col in zip(axes, columns): + angle_rad = np.deg2rad(raw[sample_idx, col]) + arrow_x = np.cos(angle_rad) * arrow_len + arrow_y = np.sin(angle_rad) * arrow_len + offset, mae = scores[col] + + ax.plot(y, x, color="tab:blue", linewidth=1.5, label="trajectory") + ax.scatter(y[0], x[0], color="green", s=35, label="start") + ax.scatter(y[-1], x[-1], color="red", s=35, label="end") + ax.quiver( + y[sample_idx], + x[sample_idx], + arrow_y, + arrow_x, + angles="xy", + scale_units="xy", + scale=1, + width=0.004, + color="tab:orange", + ) + ax.set_title(f"raw[:, {col}] best offset={offset:.0f} deg MAE={mae:.1f} deg") + ax.set_xlabel("Y") + ax.set_ylabel("X") + ax.axis("equal") + ax.grid(True, alpha=0.3) + ax.legend(loc="best", fontsize=8) + + out_dir.mkdir(parents=True, exist_ok=True) + out_path = out_dir / f"{log_path.parent.name}_yaw_columns.png" + fig.savefig(out_path, dpi=160) + plt.close(fig) + return out_path, scores + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--root", required=True, help="Dataset root containing episode directories.") + parser.add_argument("--out", default="yaw_column_check", help="Output directory for plots.") + parser.add_argument("--num", type=int, default=8, help="Number of episodes to sample.") + parser.add_argument("--stride", type=int, default=8, help="Arrow plotting stride.") + parser.add_argument("--seed", type=int, default=0) + parser.add_argument( + "--mode", + choices=["random", "turns"], + default="random", + help="random samples episodes; turns selects episodes with largest raw[:,4] yaw changes.", + ) + args = parser.parse_args() + + root = Path(args.root) + out_dir = Path(args.out) + log_paths = sorted(root.glob("*/log.json")) + if not log_paths: + raise FileNotFoundError(f"No episode log.json files found under {root}") + + if args.mode == "turns": + scored = sorted(((turn_score(path), path) for path in log_paths), reverse=True) + sampled = [path for score, path in scored[: args.num] if score >= 0.0] + print(f"Selecting {len(sampled)} / {len(log_paths)} highest-turn episodes from {root}") + else: + random.seed(args.seed) + sampled = random.sample(log_paths, k=min(args.num, len(log_paths))) + print(f"Sampling {len(sampled)} / {len(log_paths)} episodes from {root}") + + for log_path in sampled: + result = plot_episode(log_path, out_dir, args.stride) + if result is None: + print(f"SKIP {log_path.parent.name}: invalid or too little motion") + continue + out_path, scores = result + score_text = ", ".join( + f"col{col}: offset={offset:.0f}deg mae={mae:.1f}deg" for col, (offset, mae) in scores.items() + ) + print(f"OK {out_path} | {score_text}") + + +if __name__ == "__main__": + main() diff --git a/VLA-Adapter-UAV/scripts/extern/convert_prismatic_weights_to_hf.py b/VLA-Adapter-UAV/scripts/extern/convert_prismatic_weights_to_hf.py new file mode 100644 index 0000000000000000000000000000000000000000..f7e5b2cf4aa0e13abcb6b2397a8f2f9eed8c183f --- /dev/null +++ b/VLA-Adapter-UAV/scripts/extern/convert_prismatic_weights_to_hf.py @@ -0,0 +1,237 @@ +""" +convert_prismatic_weights_to_hf.py + +Utility script for converting full Prismatic VLM weights (from this repository, in the default "Prismatic" format) to +the HuggingFace "AutoClasses" (e.g., those defined in `prismatic.extern.hf_*`) for "native" use in `transformers`` +via `trust_remote_code = True`. + +Theoretically, these changes should be fully compatible with directly merging the models into `transformers` down the +line, with first-class support. +""" + +import json +import os +from dataclasses import dataclass +from pathlib import Path +from typing import Dict, List, Union + +import draccus +import timm +import torch +import torch.nn as nn +from huggingface_hub import hf_hub_download +from timm.models.vision_transformer import LayerScale +from transformers import AutoTokenizer + +from prismatic.extern.hf.configuration_prismatic import PrismaticConfig +from prismatic.extern.hf.modeling_prismatic import PrismaticForConditionalGeneration +from prismatic.extern.hf.processing_prismatic import PrismaticImageProcessor, PrismaticProcessor + + +@dataclass +class HFConvertConfig: + # fmt: off + prismatic_model_path_or_id: Union[str, Path] = ( # Path to Pretrained VLM (on disk or HF Hub) + "siglip-224px+7b" + # "prism-dinosiglip-224px+7b" + ) + output_hf_model_local_path: Path = Path( # Path to Local Path to save HF model + "hf-convert/prismatic-siglip-224px-7b" + ) + output_hf_model_hub_path: str = ( # Path to HF Hub Path for "final" HF model + "TRI-ML/prismatic-siglip-224px-7b" # => huggingface.co/TRI-ML/prismatic-{...} + ) + + # HF Hub Credentials (required for Gated Models like LLaMa-2) + hf_token: Union[str, Path] = Path(".hf_token") # Environment variable or Path to HF Token + + def __post_init__(self) -> None: + self.hf_token = self.hf_token.read_text().strip() if isinstance(self.hf_token, Path) else self.hf_token + + # fmt: on + + +# HF Transformers overwrites parameters with names containing `gamma`; we're going to patch VisionBackbone.LayerScale. +# =>> TIMM :: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L109 +# =>> Transformers :: https://github.com/huggingface/transformers/blob/main/src/transformers/modeling_utils.py#L3960 +def _ls_new_forward(self, x: torch.Tensor) -> torch.Tensor: + return x.mul_(self.scale_factor) if self.inplace else x * self.scale_factor + + +def ls_apply_patch(ls_module: LayerScale): + ls_module.scale_factor = nn.Parameter(ls_module.gamma.clone()) + ls_module.forward = _ls_new_forward.__get__(ls_module, LayerScale) + del ls_module.gamma + + +# === Conversion Constants === +PROJECTOR_KEY_MAPPING = { + "projector.0.weight": "projector.fc1.weight", + "projector.0.bias": "projector.fc1.bias", + "projector.2.weight": "projector.fc2.weight", + "projector.2.bias": "projector.fc2.bias", + "projector.4.weight": "projector.fc3.weight", + "projector.4.bias": "projector.fc3.bias", +} + + +def remap_state_dicts_for_hf( + projector_state_dict: Dict[str, torch.Tensor], + llm_backbone_state_dict: Dict[str, torch.Tensor], + vision_backbone_state_dicts: List[Dict[str, torch.Tensor]], +) -> Dict[str, torch.Tensor]: + """Iterate through Prismatic component state dictionaries and unify / fix key mapping for HF conversion.""" + hf_state_dict = {} + + # Iterate through Projector =>> use `PROJECTOR_KEY_MAPPING` + for key, value in projector_state_dict.items(): + hf_state_dict[PROJECTOR_KEY_MAPPING[key]] = value + + # Iterate through LLM Backbone =>> replace `llm.` with `language_model.` + for key, value in llm_backbone_state_dict.items(): + hf_state_dict[key.replace("llm.", "language_model.")] = value + + # Iterate through Vision Backbone =>> add "vision_backbone." prefix + assert len(vision_backbone_state_dicts) <= 2, "Prismatic models only support up to 2 (fused) vision backbones!" + for idx, vision_backbone_state_dict in enumerate(vision_backbone_state_dicts): + prefix = "vision_backbone.featurizer" if idx == 0 else "vision_backbone.fused_featurizer" + for key, value in vision_backbone_state_dict.items(): + hf_state_dict[f"{prefix}.{key}"] = value + + return hf_state_dict + + +@draccus.wrap() +def convert_prismatic_weights_to_hf(cfg: HFConvertConfig) -> None: + print(f"[*] Converting Prismatic Model `{cfg.prismatic_model_path_or_id}` to HF Transformers Format") + torch.set_default_dtype(torch.bfloat16) + + # Get `config.json` and `checkpoint_pt` -- mirrors logic in `prismatic.models.load.py` + if os.path.isdir(cfg.prismatic_model_path_or_id): + print(f"[*] Loading from Local Path `{(run_dir := Path(cfg.prismatic_model_path_or_id))}`") + config_json, checkpoint_pt = run_dir / "config.json", run_dir / "checkpoints" / "latest-checkpoint.pt" + + assert config_json.exists(), f"Missing `config.json` for `{run_dir = }`" + assert checkpoint_pt.exists(), f"Missing checkpoint for `{run_dir = }`" + else: + print(f"[*] Downloading Prismatic Checkpoint from HF Hub :: `TRI-ML/{cfg.prismatic_model_path_or_id}`") + config_json = hf_hub_download("TRI-ML/prismatic-vlms", f"{cfg.prismatic_model_path_or_id}/config.json") + checkpoint_pt = hf_hub_download( + "TRI-ML/prismatic-vlms", f"{cfg.prismatic_model_path_or_id}/checkpoints/latest-checkpoint.pt" + ) + + # Load "Native" Config JSON =>> Create LLM Config & Instantiate Tokenizer + with open(config_json, "r") as f: + prismatic_config = json.load(f)["model"] + + # Create HF PrismaticConfig (`transformers.PretrainedConfig`) + hf_config = PrismaticConfig( + vision_backbone_id=prismatic_config["vision_backbone_id"], + llm_backbone_id=prismatic_config["llm_backbone_id"], + arch_specifier=prismatic_config["arch_specifier"], + image_resize_strategy=prismatic_config["image_resize_strategy"], + llm_max_length=prismatic_config["llm_max_length"], + torch_dtype=torch.bfloat16, + ) + + # Instantiate & Add Pad to Tokenizer =>> following `prismatic.models.materialize.get_llm_backbone_and_tokenizer` + # TODO (siddk) :: Implement batched generation -- in which case this should set `padding_side = "left"`! + print("[*] Instantiating and Patching Tokenizer, LLM Config") + tokenizer = AutoTokenizer.from_pretrained( + hf_config.hf_llm_id, model_max_length=hf_config.llm_max_length, token=cfg.hf_token, padding_side="right" + ) + tokenizer.add_special_tokens({"pad_token": ""}) + tokenizer.init_kwargs.pop("add_prefix_space", None) # Pop to prevent unnecessary warning on reload... + assert tokenizer.pad_token_id == hf_config.pad_token_id, "Incorrect Pad Token ID!" + assert len(tokenizer) > hf_config.text_config.vocab_size, "Tokenizer vocabulary must be larger than LLM vocabulary!" + + # Patch LLM Config in `hf_config` with vocab_size (+ `hf_config.pad_to_multiple_of`), pad_token_id + validate + hf_config.text_config.vocab_size += hf_config.pad_to_multiple_of + hf_config.text_config.pad_token_id = hf_config.pad_token_id + hf_config.text_config.torch_dtype = torch.bfloat16 + assert hf_config.text_config.use_cache, "LLM config `use_cache` should be True for inference (set default)!" + + # Create Vision Backbone & Transform =>> following `prismatic.models.materialize.get_vision_backbone_and_transform` + # =>> Deviates a bit from existing code; as such, explicitly tested in `tests/test_image_transforms.py` + print("[*] Loading TIMM Vision Backbone(s) and Image Transform(s) =>> Initializing PrismaticImageProcessor") + timm_vision_backbones, input_sizes, interpolations, means, stds = [], [], [], [], [] + for idx, timm_model_id in enumerate(hf_config.timm_model_ids): + timm_vision_backbone = timm.create_model( + timm_model_id, + pretrained=True, + num_classes=0, + img_size=hf_config.image_sizes[idx], + act_layer=hf_config.timm_override_act_layers[idx], + ) + timm_vision_backbones.append(timm_vision_backbone) + + # Get Per-Backbone Image Processing + data_cfg = timm.data.resolve_model_data_config(timm_vision_backbone) + input_sizes.append((3, hf_config.image_sizes[idx], hf_config.image_sizes[idx])) + interpolations.append(data_cfg["interpolation"]) + means.append(data_cfg["mean"]) + stds.append(data_cfg["std"]) + + # Patch `LayerScale` because of HF annoying `fix_key` overwrite... + for module in timm_vision_backbone.modules(): + if isinstance(module, LayerScale): + ls_apply_patch(module) + + # Create PrismaticImageProcessor (`transformers.ImageProcessingMixin`) + hf_image_processor = PrismaticImageProcessor( + use_fused_vision_backbone=hf_config.use_fused_vision_backbone, + image_resize_strategy=hf_config.image_resize_strategy, + input_sizes=input_sizes, + interpolations=interpolations, + means=means, + stds=stds, + ) + + # Create top-level PrismaticProcessor (`transformers.ProcessorMixin` =>> enables registry w/ AutoProcessor) + print("[*] Creating PrismaticProcessor Instance from Tokenizer and PrismaticImageProcessor") + hf_processor = PrismaticProcessor(image_processor=hf_image_processor, tokenizer=tokenizer) + + # Load Prismatic Model State Dictionary (in preparation for conversion) + print("[*] Loading Prismatic VLM State Dictionary from Checkpoint") + model_state_dict = torch.load(checkpoint_pt, map_location="cpu")["model"] + assert ("downsampler" not in model_state_dict) or (len(model_state_dict["downsampler"]) == 0), "Downsampler?" + assert ("projector" in model_state_dict) and ("llm_backbone" in model_state_dict), "Missing keys!" + + # Convert + print("[*] Running Conversion") + converted_state_dict = remap_state_dicts_for_hf( + model_state_dict["projector"], + model_state_dict["llm_backbone"], + vision_backbone_state_dicts=[vb.state_dict() for vb in timm_vision_backbones], + ) + + # Create PrismaticForConditionalGeneration =>> Note that we can't initialize on `meta` device because TIMM + print("[*] Building (Randomly Initialized) Model =>> PrismaticForConditionalGeneration") + hf_model = PrismaticForConditionalGeneration(hf_config) + hf_model.load_state_dict(converted_state_dict, strict=True, assign=True) + + # Cast Model to BF16 before Saving + hf_model.to(torch.bfloat16) + + # Save Pretrained Versions to Local Path + print("[*] Saving Model & Processor to Local Path") + hf_model.save_pretrained(cfg.output_hf_model_local_path, max_shard_size="7GB") + hf_image_processor.save_pretrained(cfg.output_hf_model_local_path) + hf_processor.save_pretrained(cfg.output_hf_model_local_path) + + # Register AutoClasses + PrismaticConfig.register_for_auto_class() + PrismaticImageProcessor.register_for_auto_class("AutoImageProcessor") + PrismaticProcessor.register_for_auto_class("AutoProcessor") + PrismaticForConditionalGeneration.register_for_auto_class("AutoModelForVision2Seq") + + # Push to Hub + print("[*] Pushing Model & Processor to HF Hub") + hf_config.push_to_hub(cfg.output_hf_model_hub_path) + hf_model.push_to_hub(cfg.output_hf_model_hub_path, max_shard_size="7GB") + hf_image_processor.push_to_hub(cfg.output_hf_model_hub_path) + hf_processor.push_to_hub(cfg.output_hf_model_hub_path) + + +if __name__ == "__main__": + convert_prismatic_weights_to_hf() diff --git a/VLA-Adapter-UAV/scripts/extern/verify_prismatic.py b/VLA-Adapter-UAV/scripts/extern/verify_prismatic.py new file mode 100644 index 0000000000000000000000000000000000000000..742b873d3ef7489d1acf6c11705fa1ef84a51c3f --- /dev/null +++ b/VLA-Adapter-UAV/scripts/extern/verify_prismatic.py @@ -0,0 +1,134 @@ +""" +verify_prismatic.py + +Given an HF-exported Prismatic model, attempt to load via AutoClasses, and verify forward() and generate(). +""" + +import time + +import requests +import torch +from PIL import Image +from transformers import AutoModelForVision2Seq, AutoProcessor + +# === Verification Arguments === +MODEL_PATH = "TRI-ML/prismatic-siglip-224px-7b" +DEFAULT_IMAGE_URL = ( + "https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/beignets-task-guide.png" +) + +if "-prism-" in MODEL_PATH: + SAMPLE_PROMPTS_FOR_GENERATION = [ + "In: What is sitting in the coffee?\nOut:", + "In: What's the name of the food on the plate?\nOut:", + "In: caption.\nOut:", + "In: how many beinets..?\nOut:", + "In: Can you give me a lyrical description of the scene\nOut:", + ] +else: + SYSTEM_PROMPT = ( + "A chat between a curious user and an artificial intelligence assistant. " + "The assistant gives helpful, detailed, and polite answers to the user's questions." + ) + SAMPLE_PROMPTS_FOR_GENERATION = [ + f"{SYSTEM_PROMPT} USER: What is sitting in the coffee? ASSISTANT:", + f"{SYSTEM_PROMPT} USER: What's the name of the food on the plate? ASSISTANT:", + f"{SYSTEM_PROMPT} USER: caption. ASSISTANT:", + f"{SYSTEM_PROMPT} USER: how many beinets..? ASSISTANT:", + f"{SYSTEM_PROMPT} USER: Can you give me a lyrical description of the scene ASSISTANT:", + ] + + +@torch.inference_mode() +def verify_prismatic() -> None: + print(f"[*] Verifying PrismaticForConditionalGeneration using Model `{MODEL_PATH}`") + device = torch.device("cuda") if torch.cuda.is_available() else torch.device("cpu") + + # Load Processor & VLM + print("[*] Instantiating Processor and Pretrained VLM") + processor = AutoProcessor.from_pretrained(MODEL_PATH, trust_remote_code=True) + + # === AUTOCAST MODE === + # print("[*] Loading in BF16 Autocast Mode") + # vlm = AutoModelForVision2Seq.from_pretrained(MODEL_PATH, low_cpu_mem_usage=True, trust_remote_code=True).to( + # device, dtype=torch.bfloat16 + # ) + + # === NATIVE BFLOAT16 MODE === + # print("[*] Loading in BF16") + # vlm = AutoModelForVision2Seq.from_pretrained( + # MODEL_PATH, torch_dtype=torch.bfloat16, low_cpu_mem_usage=True, trust_remote_code=True + # ).to(device) + + # === BFLOAT16 + FLASH-ATTN MODE :: [~14GB of VRAM Passive || 18GB of VRAM Active] === + print("[*] Loading in BF16 with Flash-Attention Enabled") + vlm = AutoModelForVision2Seq.from_pretrained( + MODEL_PATH, + attn_implementation="flash_attention_2", + torch_dtype=torch.bfloat16, + low_cpu_mem_usage=True, + trust_remote_code=True, + ).to(device) + + # === 8-BIT QUANTIZATION MODE (`pip install bitsandbytes`) :: [~9GB of VRAM Passive || 10GB of VRAM Active] === + # print("[*] Loading in 8-Bit Quantization Mode") + # vlm = AutoModelForVision2Seq.from_pretrained( + # MODEL_PATH, + # attn_implementation="flash_attention_2", + # torch_dtype=torch.float16, + # quantization_config=BitsAndBytesConfig(load_in_8bit=True), + # low_cpu_mem_usage=True, + # trust_remote_code=True, + # ) + + # === 4-BIT QUANTIZATION MODE (`pip install bitsandbytes`) :: [~6GB of VRAM Passive || 7GB of VRAM Active] === + # print("[*] Loading in 4-Bit Quantization Mode") + # vlm = AutoModelForVision2Seq.from_pretrained( + # MODEL_PATH, + # attn_implementation="flash_attention_2", + # torch_dtype=torch.float16, + # quantization_config=BitsAndBytesConfig(load_in_4bit=True), + # low_cpu_mem_usage=True, + # trust_remote_code=True, + # ) + + # Iterate over Sample Prompts =>> Generate + image = Image.open(requests.get(DEFAULT_IMAGE_URL, stream=True).raw).convert("RGB") + num_tokens, total_time = 0, 0.0 + + print("[*] Iterating over Sample Prompts\n===\n") + for idx, prompt in enumerate(SAMPLE_PROMPTS_FOR_GENERATION): + # === AUTOCAST MODE (Reproduces Prismatic `scripts/generate.py`) === + # inputs = processor(prompt, image).to(device) + # + # # Using "autocast" to evaluate bit-wise equivalence to `scripts/generate.py` + # # =>> Running in native BF16 is also fine (but leads to slightly different generations) + # with torch.autocast("cuda", dtype=torch.bfloat16, enabled=True): + # gen_ids = vlm.generate(**inputs, do_sample=False, min_length=1, max_length=512) + + # === BFLOAT16 MODE === + inputs = processor(prompt, image).to(device, dtype=torch.bfloat16) + + # === 8-BIT/4-BIT QUANTIZATION MODE === + # inputs = processor(prompt, image).to(device, dtype=torch.float16) + + # Run Inference + gen_ids = None + for _ in range(5): + start_time = time.time() + gen_ids = vlm.generate(**inputs, do_sample=False, min_length=1, max_length=512) + total_time += time.time() - start_time + + gen_ids = gen_ids[0, inputs.input_ids.shape[1] :] + num_tokens += len(gen_ids) + + # === + gen_text = processor.decode(gen_ids, skip_special_tokens=True).strip() + print(f"[{idx + 1}] Input Prompt => {prompt}\n Generated => {gen_text}\n") + + # Compute Tokens / Second + print(f"[*] Generated Tokens per Second = {num_tokens / total_time} w/ {num_tokens = } and {total_time = }") + + +if __name__ == "__main__": + verify_prismatic() diff --git a/VLA-Adapter-UAV/scripts/generate.py b/VLA-Adapter-UAV/scripts/generate.py new file mode 100644 index 0000000000000000000000000000000000000000..cf931d3f517b53a8f162a20f6bfbd8e0172a779e --- /dev/null +++ b/VLA-Adapter-UAV/scripts/generate.py @@ -0,0 +1,133 @@ +""" +generate.py + +Simple CLI script to interactively test generating from a pretrained VLM; provides a minimal REPL for specify image +URLs, prompts, and language generation parameters. + +Run with: python scripts/generate.py --model_path +""" + +import os +from dataclasses import dataclass +from pathlib import Path +from typing import Union + +import draccus +import requests +import torch +from PIL import Image + +from prismatic import load +from prismatic.overwatch import initialize_overwatch + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +# Default Image URL (Beignets) +DEFAULT_IMAGE_URL = ( + "https://huggingface.co/datasets/huggingface/documentation-images/resolve/main/beignets-task-guide.png" +) + + +@dataclass +class GenerateConfig: + # fmt: off + model_path: Union[str, Path] = ( # Path to Pretrained VLM (on disk or HF Hub) + "prism-dinosiglip+7b" + ) + + # HF Hub Credentials (required for Gated Models like LLaMa-2) + hf_token: Union[str, Path] = Path(".hf_token") # Environment variable or Path to HF Token + + # Default Generation Parameters =>> subscribes to HuggingFace's GenerateMixIn API + do_sample: bool = False + temperature: float = 1.0 + max_new_tokens: int = 512 + min_length: int = 1 + + # fmt: on + + +@draccus.wrap() +def generate(cfg: GenerateConfig) -> None: + overwatch.info(f"Initializing Generation Playground with Prismatic Model `{cfg.model_path}`") + hf_token = cfg.hf_token.read_text().strip() if isinstance(cfg.hf_token, Path) else os.environ[cfg.hf_token] + device = torch.device("cuda") if torch.cuda.is_available() else torch.device("cpu") + + # Load the pretrained VLM --> uses default `load()` function + vlm = load(cfg.model_path, hf_token=hf_token) + vlm.to(device, dtype=torch.bfloat16) + + # Initial Setup + image = Image.open(requests.get(DEFAULT_IMAGE_URL, stream=True).raw).convert("RGB") + prompt_builder = vlm.get_prompt_builder() + system_prompt = prompt_builder.system_prompt + + # REPL Welcome Message + print( + "[*] Dropping into Prismatic VLM REPL with Default Generation Setup => Initial Conditions:\n" + f" => Prompt Template:\n\n{prompt_builder.get_potential_prompt('')}\n\n" + f" => Default Image URL: `{DEFAULT_IMAGE_URL}`\n===\n" + ) + + # REPL + repl_prompt = ( + "|=>> Enter (i)mage to fetch image from URL, (p)rompt to update prompt template, (q)uit to exit, or any other" + " key to enter input questions: " + ) + while True: + user_input = input(repl_prompt) + + if user_input.lower().startswith("q"): + print("\n|=>> Received (q)uit signal => Exiting...") + return + + elif user_input.lower().startswith("i"): + # Note => a new image starts a _new_ conversation (for now) + url = input("\n|=>> Enter Image URL: ") + image = Image.open(requests.get(url, stream=True).raw).convert("RGB") + prompt_builder = vlm.get_prompt_builder(system_prompt=system_prompt) + + elif user_input.lower().startswith("p"): + if system_prompt is None: + print("\n|=>> Model does not support `system_prompt`!") + continue + + # Note => a new system prompt starts a _new_ conversation + system_prompt = input("\n|=>> Enter New System Prompt: ") + prompt_builder = vlm.get_prompt_builder(system_prompt=system_prompt) + print( + "\n[*] Set New System Prompt:\n" + f" => Prompt Template:\n{prompt_builder.get_potential_prompt('')}\n\n" + ) + + else: + print("\n[*] Entering Chat Session - CTRL-C to start afresh!\n===\n") + try: + while True: + message = input("|=>> Enter Prompt: ") + + # Build Prompt + prompt_builder.add_turn(role="human", message=message) + prompt_text = prompt_builder.get_prompt() + + # Generate from the VLM + generated_text = vlm.generate( + image, + prompt_text, + do_sample=cfg.do_sample, + temperature=cfg.temperature, + max_new_tokens=cfg.max_new_tokens, + min_length=cfg.min_length, + ) + prompt_builder.add_turn(role="gpt", message=generated_text) + print(f"\t|=>> VLM Response >>> {generated_text}\n") + + except KeyboardInterrupt: + print("\n===\n") + continue + + +if __name__ == "__main__": + generate() diff --git a/VLA-Adapter-UAV/scripts/preprocess.py b/VLA-Adapter-UAV/scripts/preprocess.py new file mode 100644 index 0000000000000000000000000000000000000000..dc66923c0cd619bb9646eb68812abe6e66a5a8fb --- /dev/null +++ b/VLA-Adapter-UAV/scripts/preprocess.py @@ -0,0 +1,46 @@ +""" +preprocess.py + +Core script for automatically downloading raw VLM pretraining datasets. Supports downloading the following datasets: + - LLaVA v1.5 Datasets (for both training stages) [`llava-laion-cc-sbu-558k`, `llava-v1.5-instruct`] + - Stage 1 :: Projection Matrix Alignment between Vision Encoder & Pretrained LLM on CC-3M-595K (Custom) + - Stage 2 :: Projection & LLM Finetuning on LLaVa v1.5 Instruct (including various vision-language train sets) + +By default, runs download & extraction automatically. + +Run with: `python scripts/preprocess.py --dataset_id ` +""" + +from dataclasses import dataclass +from pathlib import Path + +import draccus + +from prismatic.overwatch import initialize_overwatch +from prismatic.preprocessing import convert_to_jpg, download_extract + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +@dataclass +class PreprocessConfig: + # fmt: off + dataset_id: str = "llava-v1.5-instruct" # Unique identifier for dataset to process (see above) + root_dir: Path = Path("data") # Path to root directory for storing datasets + + # fmt: on + + +@draccus.wrap() +def preprocess(cfg: PreprocessConfig) -> None: + overwatch.info(f"Downloading & Extracting `{cfg.dataset_id}` to `{cfg.root_dir / 'download'}") + download_extract(cfg.dataset_id, root_dir=cfg.root_dir) + + # Special Handling for OCR VQA Images (for `llava-v1.5-instruct`) --> convert GIFs/PNGs to JPG + if cfg.dataset_id == "llava-v1.5-instruct": + convert_to_jpg(cfg.root_dir / "download" / cfg.dataset_id / "ocr_vqa" / "images") + + +if __name__ == "__main__": + preprocess() diff --git a/VLA-Adapter-UAV/scripts/pretrain.py b/VLA-Adapter-UAV/scripts/pretrain.py new file mode 100644 index 0000000000000000000000000000000000000000..171d5fe75ca212e7abdd721c3535ff7c29ef324a --- /dev/null +++ b/VLA-Adapter-UAV/scripts/pretrain.py @@ -0,0 +1,238 @@ +""" +pretrain.py + +Pretraining script for Prismatic VLM pretraining in native PyTorch, using Fully-Sharded Data Parallel (FSDP) to run +distributed training across GPUs. By default, assumes that CUDA toolkit is >= 11.0 (to support BF16 mixed precision). + +Notes & Prerequisites: + - We're loading LLaMa-2 (and possibly other) gated models from HuggingFace (HF Hub); these require an auth_token. + For LLaMa-2, make sure to first get Meta approval, then fill out the form at the top of the HF LLaMa-2 page: + => Link: https://huggingface.co/meta-llama/Llama-2-7b-chat-hf + => Generate Token (from `huggingface.co`): Settings / Access Tokens / New "Read" Token + => Set `cfg.hf_token` to file path with token (as single line text file) or environment variable name + + - If you want to set a custom location for all HF / TIMM artifacts --> `export HF_HOME=""` *before* running! + => For example (add to end of .bashrc): `export HF_HOME="/mnt/fsx/skaramcheti/cache"` + +Run with: + - [Single Node One-GPU (Debug)] : torchrun --standalone --nnodes 1 --nproc-per-node 1 scripts/pretrain.py + - [Single Node Multi-GPU (= $K)]: torchrun --standalone --nnodes 1 --nproc-per-node $K scripts/pretrain.py + - [Multi-Node/AWS Sagemaker] Depends on your individual setup; file an issue if you have trouble! +""" + +import json +import os +from dataclasses import dataclass, field +from pathlib import Path +from typing import Optional, Tuple, Union + +import draccus +import torch +import torch.distributed as dist +import yaml + +from prismatic.conf import DatasetConfig, DatasetRegistry, ModelConfig, ModelRegistry +from prismatic.models import get_llm_backbone_and_tokenizer, get_vision_backbone_and_transform, get_vlm +from prismatic.overwatch import initialize_overwatch +from prismatic.preprocessing import get_dataset_and_collator +from prismatic.training import Metrics, get_train_strategy +from prismatic.util import set_global_seed + +# Disable Tokenizers Parallelism to Play Nice w/ PyTorch Multiprocessing DataLoaders +os.environ["TOKENIZERS_PARALLELISM"] = "false" + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +@dataclass +class PretrainConfig: + # fmt: off + + # ModelConfig (`prismatic/conf/models.py`); override with --model.type `ModelRegistry..model_id` + model: ModelConfig = field( + default_factory=ModelConfig.get_choice_class(ModelRegistry.PRISM_DINOSIGLIP_CONTROLLED_7B.model_id) + ) + + # DatasetConfig (`prismatic/conf/datasets.py`); override with --dataset.type `DatasetRegistry..dataset_id` + dataset: DatasetConfig = field( + default_factory=DatasetConfig.get_choice_class(DatasetRegistry.LLAVA_V15.dataset_id) + ) + + # Pretraining Stage in < align (projector-only) | finetune (projector + LLM) | full-finetune (all) > + # --- + stage: str = "finetune" # Pretraining Stage in < align | finetune > + pretrained_checkpoint: Optional[Path] = None # Pretrained Checkpoint to Load (for `finetune`) + # if None =>> will match on (run_dir / `align`) + + # Run Arguments + run_id: Optional[str] = None # Run ID for logging, Weights & Biases + run_root_dir: Path = Path("/mnt/fsx/x-prismatic-vlms/runs") # Path to directory to store logs & checkpoints + seed: int = 7 # Random seed (for reproducibility) + + # HF Hub Credentials (for any gated models) + hf_token: Union[str, Path] = Path(".hf_token") # Environment variable or Path to HF Token + + # Tracking Parameters + trackers: Tuple[str, ...] = ("jsonl", "wandb") # Trackers to initialize (if W&B, add config!) + wandb_project: str = "onyx-vlms" # Name of W&B project (default: `prismatic`) + wandb_entity: Optional[str] = "stanford-voltron" # Name of W&B entity (default: None) + + def __post_init__(self) -> None: + """Set optimization parameters based on `stage` in {"align", "finetune"}.""" + if self.stage == "align": + self.epochs = self.model.align_epochs + self.max_steps = self.model.align_max_steps + self.global_batch_size = self.model.align_global_batch_size + self.per_device_batch_size = self.model.align_per_device_batch_size + + self.learning_rate = self.model.align_learning_rate + self.weight_decay = self.model.align_weight_decay + self.max_grad_norm = self.model.align_max_grad_norm + self.lr_scheduler_type = self.model.align_lr_scheduler_type + self.warmup_ratio = self.model.align_warmup_ratio + + self.train_strategy = self.model.align_train_strategy + + elif self.stage.endswith("finetune"): + self.epochs = self.model.finetune_epochs + self.max_steps = self.model.finetune_max_steps + self.global_batch_size = self.model.finetune_global_batch_size + self.per_device_batch_size = self.model.finetune_per_device_batch_size + + self.learning_rate = self.model.finetune_learning_rate + self.weight_decay = self.model.finetune_weight_decay + self.max_grad_norm = self.model.finetune_max_grad_norm + self.lr_scheduler_type = self.model.finetune_lr_scheduler_type + self.warmup_ratio = self.model.finetune_warmup_ratio + + self.train_strategy = self.model.finetune_train_strategy + + else: + raise ValueError(f"Stage `{self.stage}` is not supported!") + + # fmt: on + + +@draccus.wrap() +def pretrain(cfg: PretrainConfig) -> None: + overwatch.info("Prismatic VLM Training :: Gathering Light") + + # Note => Under `torchrun` initializing `overwatch` will automatically set up `torch.distributed` + torch.cuda.set_device(device_id := overwatch.local_rank()) + torch.cuda.empty_cache() + + # Create Unique Run Name & Save Directory + model_id = cfg.model.model_id + if (dataset_id := cfg.dataset.dataset_id) == "llava-v15": + cfg.run_id = f"{model_id}+stage-{cfg.stage}+x{cfg.seed}" if cfg.run_id is None else cfg.run_id + else: + cfg.run_id = f"{dataset_id}+{model_id}+stage-{cfg.stage}+x{cfg.seed}" if cfg.run_id is None else cfg.run_id + + # Start =>> Build Directories and Set Randomness + overwatch.info('"Life is like a prism; what you see depends on how you turn the glass."', ctx_level=1) + hf_token = cfg.hf_token.read_text().strip() if isinstance(cfg.hf_token, Path) else os.environ[cfg.hf_token] + worker_init_fn = set_global_seed(cfg.seed, get_worker_init_fn=True) + os.makedirs(run_dir := (cfg.run_root_dir / cfg.run_id), exist_ok=True) + os.makedirs(cfg.run_root_dir / cfg.run_id / "checkpoints", exist_ok=True) + if overwatch.is_rank_zero(): + # Additionally save a JSON version of the config + draccus.dump(cfg, open(run_dir / "config.yaml", "w")) + with open(run_dir / "config.yaml", "r") as f_yaml, open(run_dir / "config.json", "w") as f_json: + yaml_cfg = yaml.safe_load(f_yaml) + json.dump(yaml_cfg, f_json, indent=2) + + # Load Vision Backbone --> on CPU, in Full Precision (initializing model, image_transform via TIMM) + overwatch.info(f"Loading Vision Backbone [bold]{cfg.model.vision_backbone_id}[/] via TIMM ") + vision_backbone, image_transform = get_vision_backbone_and_transform( + cfg.model.vision_backbone_id, image_resize_strategy=cfg.model.image_resize_strategy + ) + + # Load LLM Backbone --> on CPU, in Full Precision (initializing Tokenizer + handling special tokens if necessary) + overwatch.info(f"Loading Pretrained LLM [bold]{cfg.model.llm_backbone_id}[/] via HF Transformers") + llm_backbone, tokenizer = get_llm_backbone_and_tokenizer( + cfg.model.llm_backbone_id, llm_max_length=cfg.model.llm_max_length, hf_token=hf_token + ) + + # Create VLM => wraps `vision_backbone` and `llm` + overwatch.info(f"Instantiating PrismaticVLM `{model_id}` for Training Stage = `{cfg.stage}`") + vlm = get_vlm( + model_id, + cfg.model.arch_specifier, + vision_backbone, + llm_backbone, + enable_mixed_precision_training=cfg.model.enable_mixed_precision_training, + ) + + # [Explicit] Call to `freeze_backbones` here for clarity => will log exactly what is frozen / what's not! + overwatch.info(f"Invoking `VLM.freeze_backbones()` for `{model_id}` => Training Stage: `{cfg.stage}`") + vlm.freeze_backbones(cfg.stage) + + # Load Weights from Checkpoint (depends on stage, config) + overwatch.info(f"Invoking `VLM.load_checkpoint()` for `{model_id}` => Training Stage: `{cfg.stage}`") + vlm.load_from_checkpoint(cfg.stage, run_dir, pretrained_checkpoint=cfg.pretrained_checkpoint) + + # Get Dataset for Specified Stage + overwatch.info(f"Creating Dataset `{cfg.dataset.dataset_id}` => Stage: `{cfg.stage}`") + train_dataset, collator = get_dataset_and_collator( + cfg.stage, + cfg.dataset, + image_transform, + tokenizer, + prompt_builder_fn=llm_backbone.prompt_builder_fn, + default_image_resolution=vision_backbone.default_image_resolution, + padding_side=tokenizer.padding_side, + ) + + # Create Train Strategy + overwatch.info(f"Initializing Train Strategy `{cfg.train_strategy}`") + train_strategy = get_train_strategy( + train_strategy=cfg.train_strategy, + vlm=vlm, + device_id=device_id, + stage=cfg.stage, + epochs=cfg.epochs, + max_steps=cfg.max_steps, + global_batch_size=cfg.global_batch_size, + per_device_batch_size=cfg.per_device_batch_size, + learning_rate=cfg.learning_rate, + weight_decay=cfg.weight_decay, + max_grad_norm=cfg.max_grad_norm, + lr_scheduler_type=cfg.lr_scheduler_type, + warmup_ratio=cfg.warmup_ratio, + enable_gradient_checkpointing=cfg.model.enable_gradient_checkpointing, + enable_mixed_precision_training=cfg.model.enable_mixed_precision_training, + reduce_in_full_precision=cfg.model.reduce_in_full_precision, + worker_init_fn=worker_init_fn, + ) + train_strategy.run_setup(run_dir=run_dir, n_train_examples=len(train_dataset)) + + # Create Metrics =>> Handles on the fly tracking, logging to specified trackers (e.g., JSONL, Weights & Biases) + overwatch.info(f"Creating Metrics with Active Trackers => `{cfg.trackers}`") + metrics = Metrics( + cfg.trackers, + cfg.run_id, + run_dir, + draccus.encode(cfg), + cfg.stage, + wandb_project=cfg.wandb_project, + wandb_entity=cfg.wandb_entity, + grad_accumulation_steps=train_strategy.grad_accumulation_steps, + ) + + # Run Training + overwatch.info("Starting Training Loop") + train_strategy.run_training(train_dataset, collator, metrics, stage=cfg.stage, seed=cfg.seed) + + # Finalize + overwatch.info("Done with Training =>> Finalizing Metrics") + metrics.finalize() + + # And... we're done! + overwatch.info("... and that's all, folks!") + dist.barrier() + dist.destroy_process_group() + + +if __name__ == "__main__": + pretrain() diff --git a/VLA-Adapter-UAV/vla-scripts/__pycache__/finetune.cpython-310.pyc b/VLA-Adapter-UAV/vla-scripts/__pycache__/finetune.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..43024133a4dc0dd2dfbc170eb69294c5d7be0780 Binary files /dev/null and b/VLA-Adapter-UAV/vla-scripts/__pycache__/finetune.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/vla-scripts/__pycache__/finetune.cpython-312.pyc b/VLA-Adapter-UAV/vla-scripts/__pycache__/finetune.cpython-312.pyc new file mode 100644 index 0000000000000000000000000000000000000000..36ed39613b131ebfd4fedf0ec47056695c788b28 Binary files /dev/null and b/VLA-Adapter-UAV/vla-scripts/__pycache__/finetune.cpython-312.pyc differ diff --git a/VLA-Adapter-UAV/vla-scripts/__pycache__/vla_adapter_uav_act.cpython-310.pyc b/VLA-Adapter-UAV/vla-scripts/__pycache__/vla_adapter_uav_act.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..c4c5cda63c365e3b6fd0fb979e801bd212e3be18 Binary files /dev/null and b/VLA-Adapter-UAV/vla-scripts/__pycache__/vla_adapter_uav_act.cpython-310.pyc differ diff --git a/VLA-Adapter-UAV/vla-scripts/__pycache__/vla_adapter_uav_act.cpython-312.pyc b/VLA-Adapter-UAV/vla-scripts/__pycache__/vla_adapter_uav_act.cpython-312.pyc new file mode 100644 index 0000000000000000000000000000000000000000..df5c948cd82ff5ff48e76613e8673087d3f83561 Binary files /dev/null and b/VLA-Adapter-UAV/vla-scripts/__pycache__/vla_adapter_uav_act.cpython-312.pyc differ diff --git a/VLA-Adapter-UAV/vla-scripts/calvin_env_wrapper.py b/VLA-Adapter-UAV/vla-scripts/calvin_env_wrapper.py new file mode 100644 index 0000000000000000000000000000000000000000..5606f6dddbf1218596cd7c983b8bd818515d7b78 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/calvin_env_wrapper.py @@ -0,0 +1,105 @@ +import logging +import os +from typing import Any, Dict, Tuple, Union + +import gym +import numpy as np +import torch + +from calvin_env.envs.play_table_env import get_env +from calvin_env.utils.utils import EglDeviceNotFoundError, get_egl_device_id + +logger = logging.getLogger(__name__) + + +class CalvinEnvWrapperRaw(gym.Wrapper): + def __init__(self, abs_datasets_dir, observation_space, device, show_gui=False, **kwargs): + """Environment wrapper which returns raw observations. + + Args: + abs_datasets_dir: absolute datset directory + observation_sapce: {'rgb_obs': ['rgb_static', 'rgb_gripper'], 'depth_obs': [], 'state_obs': ['robot_obs'], 'actions': ['rel_actions'], 'language': ['language']} + """ + # self.set_egl_device(device) + env = get_env( + abs_datasets_dir, show_gui=show_gui, obs_space=observation_space, **kwargs + ) + super(CalvinEnvWrapperRaw, self).__init__(env) + self.observation_space_keys = observation_space + self.device = device + self.relative_actions = "rel_actions" in self.observation_space_keys["actions"] + logger.info(f"Initialized PlayTableEnv for device {self.device}") + + @staticmethod + def set_egl_device(device): + if "EGL_VISIBLE_DEVICES" in os.environ: + logger.warning("Environment variable EGL_VISIBLE_DEVICES is already set. Is this intended?") + # modified: cuda_id = device.index if device.type == "cuda" else 0 + cuda_id = torch.cuda.current_device() + try: + egl_id = get_egl_device_id(cuda_id) + except EglDeviceNotFoundError: + logger.warning( + "Couldn't find correct EGL device. Setting EGL_VISIBLE_DEVICE=0. " + "When using DDP with many GPUs this can lead to OOM errors. " + "Did you install PyBullet correctly? Please refer to calvin env README" + ) + egl_id = 0 + os.environ["EGL_VISIBLE_DEVICES"] = str(egl_id) + logger.info(f"EGL_DEVICE_ID {egl_id} <==> CUDA_DEVICE_ID {cuda_id}") + + def step( + self, action_tensor: torch.Tensor + ) -> Tuple[Dict[str, Union[torch.Tensor, Dict[str, torch.Tensor]]], int, bool, Dict]: + if self.relative_actions: + action = action_tensor#.squeeze().cpu().detach().numpy() + assert len(action) == 7 + else: + if action_tensor.shape[-1] == 7: + slice_ids = [3, 6] + elif action_tensor.shape[-1] == 8: + slice_ids = [3, 7] + else: + logger.error("actions are required to have length 8 (for euler angles) or 9 (for quaternions)") + raise NotImplementedError + action = np.split(action_tensor, slice_ids) + o, r, d, i = self.env.step(action) + + obs = o # use raw observation + return obs, r, d, i + + def reset( + self, + reset_info: Dict[str, Any] = None, + batch_idx: int = 0, + seq_idx: int = 0, + scene_obs: Any = None, + robot_obs: Any = None, + ) -> Dict[str, Union[torch.Tensor, Dict[str, torch.Tensor]]]: + if reset_info is not None: + obs = self.env.reset( + robot_obs=reset_info["robot_obs"][batch_idx, seq_idx], + scene_obs=reset_info["scene_obs"][batch_idx, seq_idx], + ) + elif scene_obs is not None or robot_obs is not None: + obs = self.env.reset(scene_obs=scene_obs, robot_obs=robot_obs) + else: + obs = self.env.reset() + + return obs # use raw observation + + def get_info(self): + return self.env.get_info() + + def get_obs(self): + obs = self.env.get_obs() + return obs # use raw observation + + + def action_space(self): + return self.env.action_space + + + def observation_space(self): + return self.env.observation_space + \ No newline at end of file diff --git a/VLA-Adapter-UAV/vla-scripts/deploy.py b/VLA-Adapter-UAV/vla-scripts/deploy.py new file mode 100644 index 0000000000000000000000000000000000000000..def1bc373cac2c310f005a1ddfe2f9fb936d35a0 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/deploy.py @@ -0,0 +1,154 @@ +""" +deploy.py + +Starts VLA server which the client can query to get robot actions. +""" + +import os.path + +# ruff: noqa: E402 +import json_numpy + +json_numpy.patch() +import json +import logging +import numpy as np +import traceback +from dataclasses import dataclass +from pathlib import Path +from typing import Any, Dict, Optional, Union + +import draccus +import torch +import uvicorn +from fastapi import FastAPI +from fastapi.responses import JSONResponse +from PIL import Image +from transformers import AutoModelForVision2Seq, AutoProcessor + +from experiments.robot.openvla_utils import ( + get_vla, + get_vla_action, + get_action_head, + get_processor, + get_proprio_projector, +) +from experiments.robot.robot_utils import ( + get_image_resize_size, +) +from prismatic.vla.constants import ACTION_DIM, ACTION_TOKEN_BEGIN_IDX, IGNORE_INDEX, NUM_ACTIONS_CHUNK, PROPRIO_DIM, STOP_INDEX + + +def get_openvla_prompt(instruction: str, openvla_path: Union[str, Path]) -> str: + return f"In: What action should the robot take to {instruction.lower()}?\nOut:" + + +# === Server Interface === +class OpenVLAServer: + def __init__(self, cfg) -> Path: + """ + A simple server for OpenVLA models; exposes `/act` to predict an action for a given observation + instruction. + """ + self.cfg = cfg + + # Load model + self.vla = get_vla(cfg) + + # Load proprio projector + self.proprio_projector = None + if cfg.use_proprio: + self.proprio_projector = get_proprio_projector(cfg, self.vla.llm_dim, PROPRIO_DIM) + + # Load continuous action head + self.action_head = None + if cfg.use_l1_regression or cfg.use_diffusion: + self.action_head = get_action_head(cfg, self.vla.llm_dim) + + # Check that the model contains the action un-normalization key + assert cfg.unnorm_key in self.vla.norm_stats, f"Action un-norm key {cfg.unnorm_key} not found in VLA `norm_stats`!" + + # Get Hugging Face processor + self.processor = None + self.processor = get_processor(cfg) + + # Get expected image dimensions + self.resize_size = get_image_resize_size(cfg) + + + def get_server_action(self, payload: Dict[str, Any]) -> str: + try: + if double_encode := "encoded" in payload: + # Support cases where `json_numpy` is hard to install, and numpy arrays are "double-encoded" as strings + assert len(payload.keys()) == 1, "Only uses encoded payload!" + payload = json.loads(payload["encoded"]) + + observation = payload + instruction = observation["instruction"] + + action = get_vla_action( + self.cfg, self.vla, self.processor, observation, instruction, action_head=self.action_head, proprio_projector=self.proprio_projector, use_film=self.cfg.use_film, + ) + + if double_encode: + return JSONResponse(json_numpy.dumps(action)) + else: + return JSONResponse(action) + except: # noqa: E722 + logging.error(traceback.format_exc()) + logging.warning( + "Your request threw an error; make sure your request complies with the expected format:\n" + "{'observation': dict, 'instruction': str}\n" + ) + return "error" + + def run(self, host: str = "0.0.0.0", port: int = 8777) -> None: + self.app = FastAPI() + self.app.post("/act")(self.get_server_action) + uvicorn.run(self.app, host=host, port=port) + + +@dataclass +class DeployConfig: + # fmt: off + + # Server Configuration + host: str = "0.0.0.0" # Host IP Address + port: int = 8777 # Host Port + + ################################################################################################################# + # Model-specific parameters + ################################################################################################################# + model_family: str = "openvla" # Model family + pretrained_checkpoint: Union[str, Path] = "" # Pretrained checkpoint path + + use_l1_regression: bool = True # If True, uses continuous action head with L1 regression objective + use_diffusion: bool = False # If True, uses continuous action head with diffusion modeling objective (DDIM) + num_diffusion_steps: int = 50 # (When `diffusion==True`) Number of diffusion steps for inference + use_film: bool = False # If True, uses FiLM to infuse language inputs into visual features + num_images_in_input: int = 3 # Number of images in the VLA input (default: 3) + use_proprio: bool = True # Whether to include proprio state in input + + center_crop: bool = True # Center crop? (if trained w/ random crop image aug) + num_open_loop_steps: int = 25 # Number of actions to execute open-loop before requerying policy + + unnorm_key: Union[str, Path] = "" # Action un-normalization key + use_relative_actions: bool = False # Whether to use relative actions (delta joint angles) + + load_in_8bit: bool = False # (For OpenVLA only) Load with 8-bit quantization + load_in_4bit: bool = False # (For OpenVLA only) Load with 4-bit quantization + + ################################################################################################################# + # Utils + ################################################################################################################# + seed: int = 7 # Random Seed (for reproducibility) + # fmt: on + + +@draccus.wrap() +def deploy(cfg: DeployConfig) -> None: + server = OpenVLAServer(cfg) + server.run(cfg.host, port=cfg.port) + + +if __name__ == "__main__": + deploy() diff --git a/VLA-Adapter-UAV/vla-scripts/enrich_lang_annotations.json b/VLA-Adapter-UAV/vla-scripts/enrich_lang_annotations.json new file mode 100644 index 0000000000000000000000000000000000000000..0bbea2c2a20e5fce854726d73087f0e3f7250058 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/enrich_lang_annotations.json @@ -0,0 +1 @@ +{"rotate_red_block_right": ["Turn the red block to the right", "Rotate the red item in a clockwise direction", "Give a rightward spin to the red block", "Twist the red object to the right", "Spin the red block clockwisely", "Adjust the red block rightwards", "Change the position of the red block to the right", "Move the red piece around to the right", "Rotate the red block in a rightward direction", "Make the red block face right", "Swivel the red block towards the right", "Turn the red piece in the clockwise direction", "Pivot the red block rightwards", "Swirl the red block to the right", "Revolve the red object to the right", "Give the red block a clockwise turn", "Twist the red block in the right direction", "Shift the red block towards right", "Rotate the red unit in a right-side direction", "Manipulate the red block in a clockwise manner.\n\nFlip the red piece to the right", "Twirl the red block around towards the right", "Veer the red block rightwards", "Tilt the red block to face right", "Push the red block towards the right", "Dial the red block in a clockwise motion", "Rotate the red item to the right", "Turn the red module towards the right", "Adjust the red block towards the right", "Roll the red block on its axis to the right", "Whirl the red block to the right", "Make a clockwise rotation with the red block", "Give a rightward whirl to the red block", "Orient the red block to the right", "Spin the red object towards its right", "Move the red artifact towards the right in a circular motion", "Let the red block take a turn to the right", "Make the red block follow a clockwise direction", "Circle the red block to its right", "Turn the red block rightwards in a twisting motion.\n\nSpin red block rightwards", "Rotate the red shape towards right", "Twist the red form in clockwise direction", "Revolve the scarlet block to the right", "Turn the crimson block towards right", "twirl the ruby block towards your right", "Rotate the cardinal block clockwise", "Shift the cherry-colored block to the right", "Turn the rose block towards your right", "Make the garnet block face right by rotating it."], "rotate_red_block_left": ["Grasp the red block and swivel it to the left", "perform a leftward rotation on the red block", "spin the red block leftward", "shift the orientation of the red block to the left", "execute a counterclockwise turn with the red block", "give the red block a left spin", "implement a left turn with the red block", "make a leftward twist with the red block", "implement a leftward spin with the red block", "maneuver the red block in a leftward rotation", "apply a leftward rotation to the red block", "adjust the red block by rotating it left", "rotate the red block anticlockwise", "accomplish a leftward rotation with the red block", "do a left twist with the red block.\n\nAlter the position of the red block by rotating it to the left", "perform a left-oriented spin with the red block", "give a counterclockwise spin to the red block", "initiate a left spin with the red block", "execute a leftward swivel with the red block", "swivel the red block in a leftward direction", "revolve the red block towards the left", "take the red block and do a left spin", "perform a spin on the red block directed to the left", "maintain a counterclockwise rotation with the red block", "turn the red block in the left direction", "maintain a leftward twist with the red block", "give a left-oriented spin to the red block", "hold the red block and swivel it to the left", "carry out a leftward turn with the red block.\n\nRotating the red block in an anti-clockwise direction", "do a counterclockwise revolution with the red block", "make a leftward revolution with the red block", "manipulate the red block and turn it to the left", "grasp the red block and execute a left turn", "direct the red block in a counter-clockwise motion", "take the red block and revolve it towards the left", "hold the red block and execute a counterclockwise spin", "change the orientation of the red block by rotating it leftward", "perform a leftward maneuver on the red block", "apply a left spin on the red block", "carry out a left revolution on the red block", "apply a counterclockwise rotation to the red block", "alter the red block orientation by turning it to the left", "lastly", "grasp the red block and perform a leftward rotation."], "rotate_blue_block_right": ["Turn the blue block to the right", "twist the blue piece to your right", "rotate the azure object in a clockwise direction", "pivot the cobalt unit to your right", "take the blue block and give it a right-handed turn", "maneuver the cerulean item to the right", "manipulate the sapphire mechanism to face right", "revolve the indigo object in a clockwise direction", "swivel the blue creation in a rightward direction", "swing the sky-blue piece towards the right", "rotate the Prussian blue block clockwise", "face the navy block on the right side", "make the blue object head right", "orient the blue block to the right", "put the blue piece in a right turn position", "point the blue unit in the eastward direction", "cause the blue entity to turn right", "execute a right turn with the blue block", "effectuate a rightward turn with the blue part", "perform a clockwise turn with the blue object", "angle the blue block towards the right", "direct the blue piece to a rightward rotation", "drive the blue brick to turn right", "govern the cyan block to go right", "guide the royal blue piece to spin right", "lead the blue unit to rotate clockwise", "navigate the blue entity to wheel right", "steer the blue block to a right turn", "adjust the blue piece towards the right", "amend the blue object to a clockwise direction", "change the blue item to point right", "modify the blue constituent to turn clockwise", "reposition the blue brick to face right", "revamp the blue part to swivel right", "manipulate the turquoise entity to spin right", "twist the blue cube to the east", "pivot the sapphire block in the right direction", "turn the blue prism to face the east", "rotate the robin's egg blue brick clockwise", "swing the teal unit towards the right", "swivel the azure item in a clockwise manner", "manipulate the steel blue object to the right", "maneuver the midnight blue mechanism in the right direction", "flip the sky-blue gadget to the east", "spin the electric blue gear clockwise", "rotate the powder blue piece towards the right", "twist the blue-green object to the right", "revolve the baby blue block clockwise", "redirect the Persian blue item towards the right."], "rotate_blue_block_left": ["Pick up the blue block and turn it left", "Grab the blue cube and rotate it to the left", "Hold tight the blue brick and twist it leftwards", "Lift the blue cube and swing it to the left", "Please move the blue block and spin it counterclockwise", "Kindly carry the blue piece and rotate it leftward", "Take the azure box and flip it to the left", "Lift the navy block and turn it to your left", "Hold the cerulean cube and revolve it leftwards", "Grab the sapphire brick and swing it counterclockwise", "Lift the cobalt block and tumble it left", "Seize the sky-blue piece and rotate it to the left", "Pinch the turquoise entity and flip it to your left", "Grab the teal object and spin it leftwards", "Handle the cyan block and turn it counterclockwise", "Catch the indigo cube and swivel it to the left", "Get hold of the azure brick and twist it left", "Lift the navy block and roll it leftwards", "Clasp the cerulean entity and spin it counter-clockwise", "Handle the sapphire object and rotate it to your left", "Get the cobalt brick and turn it left", "Grasp the sky blue cube and rotate it counter-clockly", "Hold tight the turquoise item and roll it to the left", "Pinch the teal box and flip it counter-clockwise", "Clutch the cyan entity and swivel it to your left", "Apprehend the indigo cube and roll it leftwards", "Manipulate the azure brick and spin it counter-clockwise", "Get a hold of the navy block and rotate it left", "Grasp the cerulean piece and turn it to your left", "Seize the sapphire object and spin it counter-clockwise", "Catch the cobalt entity and roll it to the left", "Grab the sky-blue box and flip it counterclockwise", "Clench the turquoise cube and sway it leftward", "Snag the teal brick and turn it to your left", "Pick up the cyan block and rotate it counter-clockwise", "Get the indigo piece and twist it left", "Obtain the navy item and rotate it to your left", "Fetch the cerulean object and spin it counter-clockwise", "Lift the azure box and swivel it to your left", "Hold the sapphire cube and turn it leftwards", "Get a grip on the cobalt brick and swivel it leftward", "Hoist the sky-blue block and rotate it to your left", "Clutch the turquoise piece and flip it counter-clockwise", "Grasp the teal item and spin it to your left", "Snatch the cyan object and turn it left", "Get hold of the indigo box and rotate it leftwards", "Pick up the navy cube and turn it counter-clockwise", "Seize the cerulean brick and rotate it left", "Hold the sapphire block and flip it to the left."], "rotate_pink_block_right": ["Grasp the pink block and give it a rightward rotation", "Grip the pink unit and turn it to the right", "Hold the pink object and spin it rightward", "Take the pink brick and swivel it to the right", "Get hold of the pink item and pivot it right", "Get a hold of the pink block and twist it to the right end", "Take the pink piece and rotate it clockwise", "Grasp the pink square and revolve it right", "Grip the pink rectangle and wind it to the right", "Obtain the pink object and spin it over to the right", "Pick up the pink item and rotate it towards the right", "Grab the pink block and swivel it in a right direction", "Secure the pink object and rotate it rightwards", "Acquire the pink piece and spin it to the right side", "Pick the pink block and turn it clockwise", "Lay hold of the pink object and revolve it to the right", "Snatch the pink segment and rotate it right", "Clasp the pink object and swivel it rightwards", "Clutch the pink block and twist it right", "Get the pink object and spin it downward to the right", "Seize the pink piece and swivel it to the right", "Retrieve the pink block and turn it to the right", "Catch the pink object and rotate it clockwise", "Grapple the pink block and twirl it to the right", "Apprehend the pink piece and pivot it rightward", "Wrest the pink thing and spin it rightward", "Nab the pink object and rotate it to right", "Swipe the pink block and turn it right", "Win the pink piece and twist it to the right", "Hitch the pink unit and bend it to the right", "Bag the pink object and spin it to the right", "Snag the pink block and rotate it clockwise", "Hook the pink piece and swivel it right", "Latch onto the pink thing and turn it right", "Snare the pink object and rotate to the right", "Sneak the pink block and twist it rightward", "Snap up the pink piece and swivel it to the right", "Pull in the pink thing and spin it right", "Draw in the pink object and rotate it rightward", "Corral the pink block and rotate it to the right", "Capture the pink object and revolve it clockwise", "Take up the pink block and swivel it right", "Engulf the pink segment and transmute it to the right", "Envelope the pink part and rotate it right", "Engage the pink object and spin it rightwards", "Handle the pink block and turn it clockwise."], "rotate_pink_block_left": ["Grab the pink block and turn it leftward", "Get a hold of the rosy block and twist it to the left", "Seize the pink item and rotate anti-clockwise", "With your grip", "turn the pink block towards the left", "Using your controller", "shift the pink block to the left", "Get the pink block and rotate it anti-clockwise", "Acquire the pink cube and pivot it to the left", "Grab onto the pink object and turn it in the left direction", "Take up the pink block and reorient it to the left", "Clutch the pink object and swivel it leftwards. \n\nCatch hold of the pink box and flip it leftwards", "Obtain the rosy square and maneuver it to the left", "Grasp the pink object and rotate to your left", "Captivate the cerise cube and revolve leftwards", "Secure the pink block and reel it to the left", "Lay hands on the pink entity and rotate it left side", "Gain control of the pink object and wheel to the left", "Take possession of the pink cube and whirl it to the left", "Get control of the pink item and twirl it to the left", "Take the rose-colored cube and spin it leftward.\n\nPick up the pink square and roll it to your left", "Grasp the pink artifact and adjust it towards the left", "Get hold of the blush object and slew it to your left", "Commandeer the pink cube and skew it to the left", "Embrace the pink item and pivot it leftwards", "Clinch the pink block and twirl it counterclockwise", "Pick the pink object up and move it towards your left side", "Hold on to the pink block and twiddle it to the left", "Make a grip on the pink cube and switch it leftwards", "Get your hands on the pink object and twist it to the left.\n\nGrasp the pink block and lean it to the left", "Pick up the pink cube and drive it to the left", "Take control of the pink object and push it leftwards", "Clasp the pink box and flip it towards the left", "Attach to the pink block and roll it anti-clockwise", "Gain hold of the pink item and turn it to the left", "Pinch the pink cube and make it face the left", "Snatch the pink block and swerve it to the left", "Obtain the pink object and bend it leftwards", "Achieve possession of the pink cube and angle it towards the left.\n\nAcquire hold of the pink block and direct it leftwards", "Take the pink cube into hands and move it to the left", "Get hold of the pink object and yeild it to the left", "Take on the pink block and turn the object leftwards", "Grasp the pink square and control it towards the left", "Hold the pink box and orient it leftwards", "Snag the pink block and steer it towards the left", "Snatch the pink cube and rotate it to your left", "Get a hold of the pink object and swivel it counter clockwise", "Take the pink block and shift it leftwards."], "push_red_block_right": ["Proceed to push the red block towards your right", "navigate towards the red block and push it to the right", "head towards the red block and move it rightwards", "proceed to push the red block in the right direction", "shift the red brick towards your right", "proceed to make the red block move to your right", "locate the red block and slide it to the right", "make the red piece move to your right", "perform a right maneuver on the red block", "guide the red block towards the right", "adjust the red block's position to the right", "ensure the red block gets pushed to the right", "engage in pushing the red block to the right", "focus on pushing the red block to the right", "endeavor to move the red block to the right", "set out to push the red block to the right", "deliberately push the red block to the right", "exert pressure on the red block towards the right", "intend to nudge the red block to the right", "undertake the task of pushing the red block rightwards", "start pushing the red block towards the right", "proceed to transfer the red block to the right", "initiate the action of pushing the red block right", "undertake the action of pushing the red block to the right", "commit to move the red block to the right", "act to push the red box to the right", "persist in pushing the red block rightwards", "develop a motion to push the red block to the right", "engage in moving the red block to your right", "sustain the movement of the red block towards the right", "activate the process of pushing the red block to the right", "perform the action of pushing the red block right", "create momentum to push the red block rightwards", "trigger the action to push the red block towards right", "establish a motion to move the red block right", "go about pushing the red block to your right", "implement the action of moving the red block to the right", "proceed in moving the red block to the right", "set in motion the red block towards the right", "carry out the act of pushing the red block right", "launch the action of pushing the red block to the right", "participate in moving the red block to the right", "perform the task of moving the red block towards right", "make an effort to push the red block to the right", "motivate the movement of the red block to the right", "generate a push towards the right on the red block", "encourage a rightward movement of the red block", "facilitate the shifting of the red block to the right", "prompt the movement of the red block towards right", "bring about the rightward movement of the red block", "propel the red block towards the right", "initialize the pushing of the red block to the right", "set the red block in the rightward direction", "determine to move the red block to the right", "steer the red block towards the right direction."], "push_red_block_left": ["Move the red block to the left", "Keep pushing the red block to your left", "Navigate the red block leftward", "Propel the red block to the left", "Guide the red block left", "Shift the red block to the left side", "Send the red block towards the left", "Slide the red block left", "Transport the red block to the left", "Guide the red block in a leftward direction", "Move the crimson block to the left", "Adjust the red block leftwards", "Relocate the red block to the left", "Drive the red block left", "Push the block that is red to the left", "Send the red square to the left", "Move the red shaped block left", "Push the colored block which is red to your left", "Move the red block in the left direction", "Push that red block over to the left", "Transfer the red block to the left", "Haul the red block leftward", "Push the red cube left", "Push the red object left", "Push the block", "which is red", "to the left", "Make the red block go left", "Take the red block to the left", "Lead the red block to the left", "Propel the red object towards the left", "Escort the red block to the left", "Reposition the red block to left", "Carry the red block left", "Direct the red block leftwards", "Roll the red block to the left", "Push red block to your left", "Manoeuvre the red block towards the left", "Migrate the red block leftward", "Send red block on your left", "Realign the red block to your left", "Push that red-colored block left", "Shift red block in left direction", "Send red-colored object towards left", "Shove the red block on your left", "Ferry the red block towards left", "Push this red block to left", "Displace the red block in left direction", "Drag the red block towards left", "Translate the red block towards left", "Steer the red block on your left", "Move the block of red color leftward."], "push_blue_block_right": ["Move the blue block to your right side", "Apply pressure to the blue block in a rightward manner", "Proceed to push the blue block to your right", "Gently nudge the blue block towards the right", "Shift the specified blue block to the right", "Begin to push the blue block in a rightward direction", "Please push the blue block on your right", "Apply direct force to the blue block ensuring it moves to your right", "Relocate the blue block to the right", "Conduct a rightward motion to push the blue block", "Implement a rightward shift to the blue block", "Slide the blue block to your right", "Guide the blue block to the right", "Propel the blue block rightwards", "Proceed to dislocate the blue block towards the right", "Move the blue block in a rightward direction", "Maneuver the blue block to your right", "Proceed to relocate the blue block to your right side", "Make sure to move the blue block in a rightward motion", "Ensure to guide the blue block towards your right", "Please carry out a rightward push on the blue block", "See to it that the blue block moves to the right", "Make certain to nudge the blue block rightwards", "Directly move the blue block to your right", "With carefulness move the blue block to the right", "See that you push the blue block to the right side", "Please shift the blue block to a rightward position", "Perform a rightward action to move the blue block", "Make a move to push the blue block to the right", "Give a nudge to the blue block towards your right", "Provide a push to the blue block and move it right", "Start to maneuver the blue block to the right", "Gently guide the blue block to your right", "Encourage the blue block to shift towards the right", "Please carry the blue block to the right side", "Aim to push the blue block to your right", "Seek to slide the blue block to the right", "Please push the blue block towards your right", "Entertain the idea of pushing the blue block in a rightwards direction", "Kindly push the blue block to your right", "Launch the blue block to the right side", "Give the blue block a gentle shove to the right", "Please direct the blue block rightwards", "Drive the blue block in the right direction", "Help the blue block move towards your right", "Initiate a rightward movement of the blue block", "Push the blue block to the appropriate", "being the right", "direction", "Make an effort to move the blue block to the right", "Finally", "move the blue block towards the right side."], "push_blue_block_left": ["Move the blue block to the left", "Give the blue block a leftward push", "Guide the blue block towards the left", "Navigate the blue block in the left direction", "Migrate the blue block towards the left", "Proceed to push the blue block on your left", "Your task is to push the blue block left", "Slide the blue block to your left", "Reorient the blue block in a leftward direction", "The blue block needs to be moved left", "Deviate the blue block towards the left side", "Shove the blue block in the leftward direction", "Displace the blue block towards the left", "Shift the location of the blue block to the left", "Propel the blue block on your left side", "Transfer the blue block leftwards", "Conduct a leftward movement of the blue block", "Manoeuvre the blue block towards the left", "Redirect the blue block towards the left direction", "Aim to push the blue block to the left", "Nudge the blue block leftward", "The direction to push the blue block is left", "The blue block's desired direction is leftwards", "Guide the blue block to a leftward path", "Push the blue block to the left direction", "Change the blue block's position to the left", "The blue block should go leftwards", "Push to have the blue block in the left position", "Move the blue block in the left direction accordingly", "Position the blue block towards the left side", "Alter the location of the blue block to the left", "March the blue block to the left side", "Reposition the blue block on the left", "Advance the blue block leftwards", "The blue block is to be moved in a leftward direction", "Realign the blue block to be on the left side", "The blue block is due for a push to the left", "Drive the blue block to a leftward position", "This blue block must be pushed leftwards", "Push the blue block to go leftward", "Set the blue block to move leftwards", "Steer the blue block leftwards", "Direct the blue block to go left", "Handle the blue block to the left side", "Actuate the blue block leftwards", "The blue block should be shifted on the left", "Spin the blue block leftwards", "Act to move the blue block on the left", "Guide a leftward shift of the blue block", "Push the blue block towards the left end."], "push_pink_block_right": ["Shift the pink block to the right", "relocate the pink cube rightward", "push the pink block towards the right", "move the pink piece on your right", "gently guide the pink block right", "push sideways the pink block", "delicately nudge the pink block to the right", "exercise pressure to move the pink block right", "apply force to the pink cube towards the right", "push on the right side the pink block", "navigate the pink block to the right", "press the pink block to move it right", "propel the pink block rightward", "send the pink block to the right", "displace the pink block towards your right", "jog the pink cube to the right", "urge the pink block rightwards", "shift the pink block right side", "lightly press the pink block towards the right", "press against the pink block moving it right", "ease the pink block to the right", "glide the pink block to the right", "maneuver the pink block right", "steer the pink block towards the right", "coax the pink block towards your right", "adjust the position of the pink block to the right", "direct the pink block right", "prompt the pink block to move right", "slightly push the pink block to the right", "drift the pink block to the right", "push forward the pink block to the right", "guide the pink block's movement to the right", "transfer the pink block to the right", "edge the pink block to the right", "push lightly the pink block towards right", "make the pink block move to the right", "migrate the pink block towards the right", "drive the pink block to the right", "control the pink block to move right", "enforce movement to the pink block rightwards", "push softly the pink block to the right", "slide the pink block to the right", "force the pink block to the right", "make a move with the pink block to the right", "reposition the pink block to the right", "move carefully the pink block to the right", "advance the pink block to the right", "transport the pink block rightwards", "push gently the pink block to the right", "press firmly and move the pink block to the right."], "push_pink_block_left": ["Shift the pink block to the left", "move the pink block leftwards", "adjust the pink block in a left direction", "transport the pink block heading left", "relocate the pink cube to your left", "slide the pink block in a left motion", "haul the pink block on the left side", "lead the pink cube going to left", "guide the pink block towards the left direction", "drag the pink block onto the left", "push the pink object leftward", "thrust the pink block in the left direction", "snudge the pink block towards your left", "roll the pink cube on the left", "shove the pink element further to the left", "slide the pink particle along to your left", "push aside the pink block on the left", "swipe the pink block to your left", "budge the pink block towards left", "jerk the pink cube towards the left side", "propel the pink block to the left", "drive the pink block leftwards", "navigate the pink cube towards left", "force the pink block towards the left", "send the pink block moving to left", "slide the pink block across to the left", "dislocate the pink cube to your left", "maneuver the pink block left", "steer the pink cube towards left direction", "wrest the pink block moving it left", "jostle the pink cube in left direction", "push forward the pink block towards the left", "sweep the pink cube on the left side", "edge the pink block along to your left", "hoist the pink cube going left", "control the pink block heading left", "direct the pink cube leftwards", "place the pink block towards your left side", "heave the pink block left", "tug the pink cube to the left", "lug the pink block towards left direction", "shift over the pink cube to your left", "reposition the pink block on the left", "move along the pink cube in a left movement", "turn the pink block left", "push around the pink cube heading left", "divert the pink block to the left", "hustle the pink cube going to the left", "push away the pink block towards the left."], "move_slider_left": ["Shift the sliding door to the left", "Gauche the slide door", "Use your arm to slide the door towards the left", "Manoeuvre the sliding door to the left", "Move the door on its track to the left", "Push the door along the slider to the left", "Push the sliding mechanism to the left", "Slide the door to your left side", "Move the movable door to the left", "Push the gliding doorway to the left", "Slide the patio door to the left", "Propel the sliding aperture towards the left", "Manipulate the door and slide it to the left", "Move the door that slides to your left", "Push the sliding panel to the left side", "Deflect the sliding door towards the left", "Push the mobile door to the left", "Guide the sliding door to your left side", "Slide the door on its rail to the left", "Change the position of sliding door to the left", "Discourage the door on rails towards the left", "Shove the bi-fold door to the left", "Shift sliding gate on track to the left", "Displace the door on guide to the left.\n\nPrompt sliding door to an eastern direction", "Direct sliding plank to left", "Motivate barrier to slip left", "Slide gateway door to the left", "Move the sliding barrier to left", "Make the door slide to the left", "Guide sliding passageway to the left", "Propel the sliding door on its track to the left", "Move slider to the left side", "Drift sliding door towards left direction", "Shift moveable wall to left side", "Push the gliding door towards left side", "More the slider door leftwards", "Nudge moveable gate to the left", "Move sliding aperture towards the left", "Direct sliding barrier towards left", "Guide door on slider to move left", "Slide along dividing panel towards the left", "Drift the sliding door left-wards", "Move sliding plank leftwards", "Make sliding door glide to the left", "Shift movable passageway to left", "Propel sliding gateway on track leftwards", "Direct sliding entrance left", "Nudge movable wall towards left."], "move_slider_right": ["Move the sliding door to the right", "Push the door slide on the right", "Slide the door toward the right", "Shift the sliding door right", "Glide the door to the right", "Move the door horizontally right", "Push the slide door to the right side", "Apply force to the sliding door moving it to the right", "Make the sliding door move in the right direction", "Coordinate the sliding door to shift it to the right", "Navigate the sliding door to the right side", "Propel the sliding door rightward", "Mobilize the sliding door to the right direction", "Operate the sliding door to the right", "Get the sliding door to move to the right", "Direct the sliding door rightwards", "Turn the sliding door towards the right", "Guide the sliding door to move on the right", "Adjust the sliding door towards the right", "Encourage the door to slide right", "Propel the sliding door on the right path", "Slide the movable door right", "Move the door module to the right", "Please slide the door in the right direction", "Actuate the sliding door to the right side", "Drive the sliding door to the right side", "Displace the sliding door towards the right", "Initiate sliding door movement towards the right", "Indicate the sliding door to move to the right side", "Push the gliding door to the right", "Place the sliding door into the right zone", "Mount the sliding door to the right track", "Sway the sliding door towards the right", "Send the sliding door towards the right direction", "Steer the sliding door to the right", "Reposition the sliding door to the right", "Ease the sliding door onto the right track", "Align the sliding door along the right route", "Motivate the sliding door to head towards the right", "Give a thrust to the sliding door towards the right", "Utilize force to move the sliding door rightwards", "Usher the sliding door towards the right side", "Manoeuvre the sliding door towards the right", "Guide the door to slide to the right", "Force the door to move towards the right", "Push the sliding door to the right edge", "Slide and position the door to the right", "Push the door along the right slide", "Control the motion of the door to the right", "and finally", "Push the right-moving sliding door."], "open_drawer": ["Tug the handle to make the drawer slide out", "Grasp the handle firmly and pull to dislodge the drawer", "Hold the handle and exert pressure to make the drawer open", "Gently pull on the handle to initiate the drawer's opening", "Hold onto the handle to guide the drawer open", "Draw the handle towards you", "forcing the drawer out", "Seize the handle and maneuver the drawer open", "Handle the knob and pull it to display the drawer contents", "Grip the handle and exert force to unfold the drawer", "Carry out a pulling action on the drawer's handle to reveal its contents", "Make a firm clasp of the handle and pull it to unveil the drawer", "Secure a grip around the handle and pull till the drawer opens", "Engage the handle", "pull it to manipulate the drawer's opening", "Acquire a grip on the handle to slide the drawer out", "Pull the drawer using the handle to expose its interior", "Hook your fingers around the handle and pull to uncover the drawer's contents", "By using the handle", "pull to swing the drawer open", "Hold tight to the drawer's handle and yank it open", "Grasp and tug at the handle to loosen the drawer", "Reach for the handle and perform a pulling task to open the drawer", "Employ the handle and tug to eject the drawer", "Deploy a firm grip on the handle to haul the drawer open", "Latch onto the handle and drag the drawer into an open position", "Draw back on the handle", "triggering the drawer to open", "Pull on the handle to propel the drawer to a revealing position", "Get a firm hold on the handle and retrieve the drawer", "Utilize the handle to execute a pulling action to expose the drawer", "Lay your hands on the handle", "then pull to disengage the drawer", "Pull the handle to activate the drawer's opening mechanism", "Use the leverage of the handle to tug the drawer open", "Grasp the handle to perform the drawer opening task", "Grip and yank the handle to free the drawer", "Position your hand on the handle", "then draw back to unseal the drawer", "Use the handle to pull the drawer to an open state", "Grip the drawer's handle and exert a pull force to unveil its contents", "Make a pull movement on the handle to facilitate drawer's opening", "Use handle leverage to pull and show the drawer", "Grip the handle to enable drawer sliding", "Pull the handle firmly to activate the drawer", "Hold and tug the handle to make the drawer visible", "Seize the handle and perform pulling motion to reveal the drawer", "Maintain your grip on the handle and exert force to open the drawer", "Grasping the drawer handle", "pull it toward you", "Pull the handle to get the drawer into view", "Use the handle for assistance and pull to open the drawer", "Reach for the handle and yank to expose the drawer", "Engage the handle to guide the drawer's opening", "Grasp the handle and pull to reveal the drawer", "Take hold of the handle and pull to introduce the drawer contents", "Pull the handle to operate the drawer mechanism", "Use the handle to command the drawer's opening."], "close_drawer": ["Press the handle to shut the drawer", "use the grip to push the drawer closed", "apply force to the handle to seal the drawer", "maneuver the handle to end the drawer's openness", "move the handle to stop the drawer from being open", "handle the drawer to make it close", "manipulate the handle to close off the drawer", "push the drawer's handle to end its openness", "make use of the handle to shut the drawer", "exert force on the drawer handle to close it", "push the drawer's grip to close it", "utilize the handle to seal the drawer", "handle thrust is needed to shut the drawer", "operate the handle to close the drawer", "push the handle to finish the drawer's openness", "apply motion to the handle to close the drawer", "enact force on the handle to seal the drawer", "prompt the handle to close the drawer", "press against the handle to shut the drawer", "make the drawer close by pushing its handle.\n\nGuide your hand on the handle to close the drawer", "move your hand on the handle to shut the drawer", "push downward on the handle to seal the drawer", "initiate closure of the drawer by moving the handle", "give the handle a push to finalize the closing of the drawer", "control the handle in a way that leads to the shutting of the drawer", "govern the drawer's closing through the handle", "apply pressure to the handle to close the drawer", "enforce the drawer's closure by handling it", "take charge of closing the drawer by pushing the handle.\n\nCommand the drawer to close by pushing on the handle", "exercise control over the drawer's state by pushing the handle", "instruct the drawer to close by handling it", "utilize the handle to finalize the drawer's openness", "activate the drawer's closure by pushing the handle", "convey the action of closing to the drawer by pressing its handle", "direct the drawer's path to closure using its handle", "execute the closing of the drawer by handling it", "operate on the drawer by pressuring its handle to a close", "accomplish closure of the drawer by operating its handle.\n\nInitiate the shutting of the drawer using the handle", "broker the closing transaction of the drawer via the handle", "press handle down to close the drawer", "enforce the end of the drawer's openness using the handle", "control the status of the drawer via the handle", "regulate the closure of the drawer by handling it", "influence the drawer to close by operating its handle", "implement the drawer's shutting using the handle", "handle the drawer to cease its openness", "conclude the drawer's open state by handling it."], "lift_red_block_table": ["Pick up the red block", "Get a hold of the red block", "Grip the red block", "Clasp the red block", "Secure the red block in your grasp", "Seize the red block", "Pluck the red block up", "Hoist the red block", "Elevate the red block", "Haul up the red block", "Raise the red block", "Uplift the red block", "Get the red block in your hold", "Clutch the red block", "Latch onto the red block", "Cling to the red block", "Enclose the red block in your grip", "Grapple the red block", "Clinch the red block", "Take possession of the red block", "Fetch the red block", "Heave the red block", "Collect the red block", "Snag the red block", "Nab the red block", "Catch hold of the red block", "Snatch the red block", "Grip tightly to the red block", "Wrench up the red block", "Tug up the red block", "Yank up the red block", "Jolt up the red block", "Lift the red block skywards", "Grasp and elevate the red block", "Reach for and lift the red block", "Capture the red block", "Obtain control of the red block", "Elevate the red block from its position", "Pick and lift the red block", "Hike up the red block", "Handle and raise the red block", "Secure the red block and lift it", "Arrest the red block", "Hold the red block firmly", "Obtain the red block", "Take hold of the red block", "Winch up the red block", "Grasp and hoist the red block", "Fasten onto the red block", "Hold onto and raise the red block", "Take in hand the red block", "Propel the red block upwards."], "lift_blue_block_table": ["Pick up and raise the blue block", "firmly grip and elevate the blue block", "seize and hoist the blue block", "secure and lift the blue block", "clutch and uplift the blue block", "catch hold of and raise the blue block", "clasp and heave the blue block", "snatch and loft the blue block", "grab and heighten the blue block", "lay hold of and uplift the blue block", "take and wield the blue block upward", "gather and upraise the blue block", "latch onto and elevate the blue block", "capture and lift the blue block", "trap and hoist the blue block", "get hold of and raise the blue block", "gain and lift up the blue block", "catch and ascend the blue block", "fasten onto and elevate the blue block", "acquire and lift the blue block", "take possession of and raise the blue block", "sequester and lift the blue block", "obtain and hoist the blue block", "grasp tightly and lift the blue block", "scoop up and raise the blue block", "attach to and lift the blue block", "get a grip on and hoist the blue block", "engross and raise the blue block", "embrace and elevate the blue block", "get a hold of and lift the blue block", "lay hands on and hoist the blue block", "grasp firmly and raise the blue block", "ensnare and lift the blue block", "entrap and hoist the blue block", "get your hands on and raise the blue block", "take a grip of and lift the blue block", "clutch firmly and hoist the blue block", "handle and raise the blue block", "make use of and lift the blue block", "secure firmly and elevate the blue block", "catch a grip and lift the blue block", "clench and hoist the blue block", "clinch and raise the blue block", "fasten and elevate the blue block", "arrest and lift the blue block", "tighten onto and hoist the blue block", "harness and raise the blue block", "make fast and lift the blue block", "enclose and hoist the blue block", "get a fix on and raise the blue block."], "lift_pink_block_table": ["Pick up the pink block", "get a hold of the pink object", "lift the pink piece", "hoist the pink block upwards", "acquire the pink block", "manoeuvre the pink cube upwards", "uplift the pink object", "handle and raise the pink block", "elevate the pink cube", "snatch and hoist pink block", "clutch and elevate the pink box", "get your hands on the pink item and lift it", "fetch and hoist the pink blockette", "take and elevate the pink block", "touch and raise the pink block", "attain and uplift the pink object", "clutch the pink block and give it a lift", "collect the pink unit and raise it", "grip the pink module and hoist it", "make your grasp on the pink element and elevate it", "fasten your hands around the pink item and uplift it", "bear and lift the pink piece", "carry and raise the pink units", "seize the pink box and elevate it", "jerk and lift the pink cube", "uplift and hold the pink object", "latch onto and elevate the pink component", "control the pink part and lift it", "maneuver the pink block and elevate it", "hang onto the pink module and raise it", "secure the pink block and uplift it", "gain and lift the pink entity", "fetch the pink object and elevate it", "uphold the pink unit", "elevate the pink block after getting a hold on it", "grasp then raise the pink piece", "reach and lift up the pink object", "acquire the pink unit then move it upwards", "lay hands on the pink block and heighten it", "bring up the pink element", "clutch and hoist the pink factor", "take in the grip and lift the pink item", "ensure to lift the pink block", "acquire and lift the pink object", "immediately elevate the pink block", "with a swift move lift the pink object", "clutch and uplift the pink item", "handle the pink piece to lift it."], "lift_red_block_slider": ["Raise the red block from the sliding cabinet", "Pull up the red block from the floating shelf", "Remove the red block from the drawer", "Collect the red block from the moving container", "Take up the red block from the slide-fitted compartment", "Unload the red block from the sliding case", "Pick up the red block from the sliding drawer", "Lift up the red brick from the sliding shelf", "Elevate the red block from the sliding box", "Retrieve the red block from the horizontally moving drawer", "Shift up the red block from its sliding cabinet", "Draw out the red block from the sliding crate", "Uplift the red block from the slide mechanism cabinet", "Rearrange the red block from its sliding stay", "Hoist the red block from the moving case", "Jerk the red block from the drawing out shelf", "Grasp the red block from the sliding rack", "Hike the red block from its sliding set-up", "Snatch the red block from a sliding container", "Drag out the red block from the sliding shelf", "Excavate the red block from the sliding instrument", "Relocate the red block from the rolling cabinet", "Upraise the red block from the sliding box", "Clasp the red block extracted from the sliding space", "Convey upwards the red block from the gliding shelf", "Elevate straight up the red block from its drawer", "Withdraw the red block from the sliding closet", "Disengage the red block from the sliding rack", "Extract the red block from a sliding cabinet", "Pull the red block out of a sliding rack", "Get a hold of the red block from the sliding holder", "Scoop up the red block from the gliding shelf", "Move the red block from the sliding rack to upper place", "Displace the red block from the rolling cabinet", "Carry the red block upwards from the sliding crate", "Haul the red block from the sliding fixture", "Bring up the red block from the sliding accommodation", "Warp the red block from the gliding cabinet", "Yank up the red block from the cabin sliding", "Take away the red block from the sliding hold", "Draw up the red block from the rolling holder", "Unsettle the red block from the gliding case", "Propel up the red block from the sliding drawer", "Thrust up the red block from the sliding shelf", "Heave the red block from the sliding cabinet", "Transfer the red block from the sliding bracket", "Clear the red block from the sliding rack", "Fetch the red block from its sliding space", "Dislodge the red block from the moving holder", "Hoick the red block from the sliding pocket."], "lift_blue_block_slider": ["Extract the blue block from the sliding compartment", "Carefully hoist the blue marker out of the mobile drawer", "Obtain the blue cube from the sliding amenity", "Take out the blue block from the gliding cabinet", "Gently hoist the azure box from the sliding berth", "Scoop out the blue block from the mobile drawer", "Draw the cerulean cube from the swinging cupboard", "Lift upward the blue block from the sliding closet", "Secure the blue rectangle from the sliding section", "Safely elevate the azure rectangular prism from the cabinet on wheels", "Remove the navy block from the suspended shelving unit", "Retrieve the blue square from the sliding drawer", "Lift up the periwinkle box from the rolling cabinet", "Pluck up the blue cube from the sliding storage compartment", "Raise the azure block from the movable drawer upwards", "Hoist upward the sapphire square from the sliding cabinet", "Grasp and lift the blue box from the rolling drawer", "Collect the blue block from the sliding cabinet", "Bring up the blue block from the movable shelving unit", "Deliver the blue cube from the track cabinet upwards.\n\nPull the blue block from the glide cabinet", "Guide the blue square up from the gliding drawer", "Extract the azure box from the sliding storage", "Scoop up the cerulean block from the wooden track cabinet", "Uplift the sapphire cube from the mobile drawer", "Retrieve the rectangular prism from the sliding closet", "Haul the blue box up from the moveable drawer", "Drag up the sky-blue block from the stretchable cabinet", "Get the cobalt cube from the sliding drawer", "Fetch the indigo block from the moving wooden cabinet", "Pluck the cylinder from the drawer with rails", "Scoop up the blue block from the sliding storage unit", "Pull upward the blue square from the rollable chest", "Safely acquire the rectangular box from the sliding rack", "Nudge up the cerulean cube from the rollable locker", "Isolate and lift the blue block from the sliding cabinet", "Gently uplift the turquoise block from the sliding compartment", "Securely collect the blue rectangle from the sliding storage area", "Cautiously hoist the rectangular prism up from the moving drawer", "Lastly", "retract the cerulean cube from the sliding chest."], "lift_pink_block_slider": ["Pick up the pink block from the sliding cabinet", "Elevate the pink block from the sliding cabinet", "Take up the pink block stationed in the sliding cabinet", "Ascend the pink block from within the sliding cabinet", "Elevate the pink block housed in the sliding cabinet", "Hoist the pink block from the sliding cabinet", "Uplift the pink slab from the sliding cabinet", "Raise the pink cube from the sliding cabinet", "Pick up and lift the pink block from the sliding cabinet", "Remove the pink block from the sliding cabinet and lift it", "Extract and lift the pink block from the sliding cabinet", "Retrieve and hoist the pink block from the sliding cabinet", "Grasp", "pick and lift the pink block from the sliding cabinet", "Reach and hoist the pink block from the sliding cabinet", "Secure and raise the pink block from the sliding cabinet", "Grip and pick the pink block from the sliding cabinet", "Grip and elevate the pink block from the sliding cabinet", "Catch and ascend the pink block from the sliding cabinet", "Take hold and uplift the pink block from the sliding cabinet", "Lift up the pink block stored in the sliding cabinet", "Hoist up the pink block kept in the sliding cabinet", "Draw up the pink block positioned in the sliding cabinet", "Pull up the pink block settled in the sliding cabinet", "Lift the rosy block from the sliding cabinet", "Elevate the rosy clay from the sliding cabinet", "Hoist the roseate block from the sliding cabinet", "Raise the rosaceous block from the sliding cabinet", "Lift up the blush block from the sliding cabinet", "Hoist up the fuchsia block from the sliding cabinet", "Uplift the cerise block from the sliding cabinet", "Lift the pinkish block from the sliding cabinet", "Raise the pink-toned block from the sliding cabinet", "Elevate the pink-colored tile from the sliding cabinet", "Pick up the pinkish square from the sliding cabinet", "Uplift the pink-hued unit from the sliding cabinet", "Raise the salmon rectangular solid from the sliding cabinet", "Pull up the coral cube from the sliding cabinet", "Hoist the rose block from the unit cabinet", "Uplift the rosy rectangular solid from the unit cabinet", "Raise the roseate tile from the sliding cabinet", "Pick up the pink rectangular block from the sliding cabinet", "Uplift the rosaceous square from the sliding cabinet", "Remove and raise the blush block from the sliding cabinet", "Get and elevate the fuchsia block from the sliding cabinet", "Lift the cerise block from within the sliding cabinet."], "lift_red_block_drawer": ["Retrieve the scarlet block from the compartment", "Fetch the crimson piece from the drawer", "Bring out the red cube from the drawer", "Pick up the red block from inside the drawer", "Grab the red brick from the drawer", "Remove the red square from the drawer", "Take out the ruby cube from inside the drawer", "Acquire the red article from the drawer", "Displace the cerise object from the drawer", "Procure the red piece from the drawer", "Grasp the scarlet item from the drawer", "Extradite the ruby block from the drawer", "Reach for the rouge brick from the drawer", "Yank out the scarlet block from the drawer", "Pluck the cardinal cube from the drawer", "Move the puce block from the drawer", "Collect the ruddy piece from the drawer", "Drag out the red element from the drawer", "Lift the carmine object from the drawer", "Get the red unit from the drawer", "Draw out the cherry cube from the drawer", "Find the red block from the drawer", "Disengage the cardinal brick from the drawer", "Pull out the red item from the drawer", "Evacuate the rose block from the drawer", "Snatch the red piece from the drawer", "Recover the vermillion block from the drawer", "Extract the cherry brick from the drawer", "Retrieve the claret cube from the drawer", "Relocate the red block from the drawer", "Procure the crimson brick from the drawer", "Disturb the red unit from the drawer", "Secure the rudd brick from the cupboard", "Seize the cinnabar square from the drawer", "Collect the brick-red cube from the drawer", "Pluck the red item from the drawer", "Draw out the red entity from the drawer", "Relocate the ruby block out of the drawer", "Fetch the red piece from within the drawer", "Get hold of the red block from the drawer", "Release the rufescent brick from the drawer", "Secure the ruby read block from the drawer", "Uproot the red entity from the drawer", "Obtain the red block located in the drawer", "Capture the red brick from the drawer", "Pull the rose cube from the drawer", "Seclude the red object from the drawer", "Hold the red cube out of the drawer", "Elevate the cherry block from the drawer", "Pick the red brick from the drawer."], "lift_blue_block_drawer": ["Retrieve the blue block from the drawer", "Grab the blue block from inside the drawer", "Extract the blue block from the drawer", "Pick up the blue block from the drawer", "Remove the blue block from the drawer", "Draw out the blue block from the drawer", "Pull out the blue block from the drawer", "Gather the blue block from the drawer", "Collect the blue block from the drawer", "Snag the blue block from the drawer", "Get the blue block from the drawer", "Secure the blue block from the drawer", "Grip the blue block from the drawer", "Hold the blue block from the drawer", "Procure the blue block from the drawer", "Achieve the blue block from the drawer", "Bring out the blue block from the drawer", "Select the blue block from the drawer", "Arrange the blue block from the drawer", "Take out the blue block from the drawer", "Choose the blue block from the drawer", "Draw the blue block from the drawer", "Grasp the blue block from the drawer", "Fetch the blue block from the drawer", "Hook the blue block from the drawer", "Pluck the blue block from the drawer", "Catch the blue block from the drawer", "Obtain the blue block from the drawer", "Glean the blue block from the drawer", "Reap the blue block from the drawer", "Wrest the blue block from the drawer", "Yank the blue block from the drawer", "Seize the blue block from the drawer", "Grab hold of the blue block from the drawer", "Take possession of the blue block from the drawer", "Haul out the blue block from the drawer", "Expose the blue block from the drawer", "Prise out the blue block from the drawer", "Fish out the blue block from the drawer", "Peel out the blue block from the drawer", "Recover the blue block from the drawer", "Lift the blue block from the drawer", "Claim the blue block from the drawer", "Eject the blue block from the drawer", "Emerge the blue block from the drawer", "Retrieve the blue cube from the drawer", "Fetch the blue brick from the drawer", "Get the turquoise block from the drawer", "Pull out the sapphire block from the drawer", "Lift out the cerulean block from the drawer."], "lift_pink_block_drawer": ["Retrieve the pink block from the drawer", "Remove the pink block from the drawer", "Get the pink block from the drawer", "Extract the pink block from the drawer", "Pull out the pink block from the drawer", "Secure the pink block from the drawer", "Fetch the pink block from the drawer", "Withdraw the pink block from the drawer", "Slip out the pink block from the drawer", "Yank the pink block from the drawer", "Drag out the pink block from the drawer", "Acquire the pink block from the drawer", "Procure the pink block from the drawer", "Bring the pink block out from the drawer", "Dig out the pink block from the drawer", "Grasp the pink block from the drawer", "Release the pink block from the drawer", "Eject the pink block from the drawer", "Haul out the pink block from the drawer", "Snatch the pink block from the drawer", "Retrieve the pink object from the drawer", "Dislodge the pink block from the drawer", "Shift the pink block from the drawer", "Banish the pink block from the drawer", "Cart off the pink block from the drawer", "Liberate the pink block from the drawer", "Manifest the pink block from the drawer", "Glean the pink block from the drawer", "Redeem the pink block from the drawer", "Annihilate the pink block from the drawer", "Deracinate the pink block from the drawer", "Deliver the pink block from the drawer", "Convey the pink block from the drawer", "Extricate the pink block from the drawer", "Gain the pink block from the drawer", "Relieve the pink block from the drawer", "Rescue the pink block from the drawer", "Uplift the pink block from the drawer", "Bear the pink block from the drawer", "Beam the pink block from the drawer", "Prise the pink block from the drawer", "Displace the pink block from the drawer", "Reclaim the pink block from the drawer", "Take possession of the pink block from the drawer", "Seize the pink block from the drawer", "Ransom the pink block from the drawer", "Retrieve the rose-colored block from drawer", "Grab the pink block from the drawer", "Handle the pink block from the drawer", "Discard the pink block from the drawer."], "place_in_slider": ["Place the grasped object in the sliding storage", "Put the held block in the slideable compartment", "Deposit the gripped cube in the sliding cabinetry", "Stow the captured piece in the gliding storage", "Keep the possession within the sliding furniture", "Insert the hold-on object in the sliding locker", "Position the seizer in the sliding wardrobe", "Relocate the clutch in the sliding box", "Set the gripped unit in the slide-out drawer", "Move your hold into the sliding bureau", "Transfer the item in your grip to the sliding closet", "Put the object in hand into the glide cabinet", "Place the grasped brick into slide storage", "Insert the held object in the roll out locker", "Lodge the gripped box in the moveable case", "Stash the seized object into the cabinet with sliding door", "Lodge the held item in the side rolling bin", "Deposit the gripped piece in the sliding cupboard", "Displace the seized matter in the sliding enclosure", "Store the handheld item in the gliding storage unit", "Deliver the object you're holding into the gliding locker", "Hide the item gripped in sliding stash", "Save the object held in the cabinet which has a sliding door", "Shift the gripped stuff into the sliding rack", "Transport the gripped block to the glide drawer", "Relocate the handheld item to the moving cabin", "Haul the grasped tool into the rolling box", "Insert the block in hand into the glide rack", "Hide the clutch in the cabinet with a slide door", "Lodge the handheld in the cabinet with a slide capability", "Lift the gripped object into the glide cabinet", "Transfer the clutched entity into the rolling chest", "Set the grabbed stuff in the movable cupboard", "Locate the grasped object in the sliding cloakroom", "Displace the seized element into the glide almirah", "Preserve the seized substance in the running cabinet", "Position the snatched particle in the sliding sideboard", "Transfer the gripped cell in the gliding bureau", "Save the caught item into the sliding commode", "Stash the seized block into the gliding repository", "Place the grasped object in the glide bin", "Lodge the gripped rectangle in the gliding cloakroom", "Reposition the handheld matter in the sliding caddy", "Lodge the seized unit in the rolling curricle", "Drop the gripped cube in the slide out organizer", "Insert the handheld block into the sliding safe", "Preserve the seized box in the rolling storage", "Set the grabbed object into the gliding cubicle."], "place_in_drawer": ["Place the block that you're holding in the drawer", "Put the block you've picked up inside the drawer", "Dispose of the grasped block in the drawer", "Take the block you're holding and put it in the drawer", "Stow the block you have in your grasp into the drawer", "Take your grasped cube and store it in the drawer", "Insert the block that's in your hold into the drawer", "Lodge the clutched block into the drawer", "Keep the block you are handling in the drawer", "Deposit the clasped block into the drawer", "Move the seized block to the drawer", "Tuck the block you're holding into the drawer", "Slip the grasped block into the drawer", "Position the block you've clutched in the drawer", "Situate the held block within the drawer", "Store the gripped block inside the drawer", "Set the seized object in the drawer", "Shift the clutched block towards the drawer", "Store the in-hand block in the drawer", "Place the gripped cube within the drawer", "Transfer the in-hand block into the drawer", "Relocate the grasped block to the drawer", "Park the held block within the drawer", "Stash the block held in your grasp within the drawer", "Reposition the clutched item in the drawer", "Store the block in your grasp into the drawer", "Lodge the held piece within the drawer", "Keep the handled entity inside the drawer", "Move the in-hand square into the drawer", "Introduce the seized object into the drawer", "Stow the cube you are holding into the drawer", "Take the cube in your grasp and put it inside the drawer", "Stash the block you are handling in the drawer", "Secure the held block within the drawer", "Accommodate the clutched entity in the drawer", "Insert the gripped item in the drawer", "Confine the held block into the drawer", "Set the in-palm block into the drawer", "Insert the clasped item into the drawer", "Place the grasped block inside the drawer", "Relocate the gripped item into the drawer", "Position the gripped block in the drawer", "Stash the held cube inside the drawer", "Deposit the handled item into the drawer", "Put the in-hand entity inside the drawer", "Slip the held object into the drawer", "Move the in-grasp object into the drawer", "Transfer the clutched cube into the drawer", "Put the seized entity in the drawer", "Store the held item in the drawer."], "push_into_drawer": ["Push the block so it descends into the drawer", "Guide the block to make sure it lands in the drawer", "Move the block ensuring it goes into the drawer", "Shuttle the block until it drops into the drawer", "Propel the block so that it slides into the drawer", "Shove the block in a manner that it fits the drawer", "Maneuver the block until it finds its way to the drawer", "Shift the block looking for its place in the drawer", "Transport the block to its destination", "which is the drawer", "Escort the block till it is settled in the drawer", "Advance the block so it tumbles into the drawer", "Transmit the block making certain it enters the drawer", "Transfer the block so that it fits in the drawer", "Relocate the block pointing it towards the drawer", "Nudge the block till it moves into the drawer", "Streamline the block path to the drawer", "Traverse the block till it reaches the drawer", "Displace the block to facilitate its placement into the drawer", "Redirect the block so it nestles into the drawer", "Facilitate the block journey into the drawer", "Handle the block cautiously ensuring its smooth entrance into the drawer", "Pilot the block towards the drawer", "Steer the block until it settles in the drawer", "Lead the block making sure it lands in the drawer", "Vest the block in a path that leads to the drawer", "Accompany the block till it finds a spot in the drawer", "Conductor the block to the drawer", "Lend the block a path to the drawer", "Position the block so it slides into the drawer", "Propel forward the block to make it enter the drawer", "Drive the block so it fits into the drawer", "Align the block to make its way to the drawer", "Supervise the block motion into the drawer", "Motivate the block to find its place in the drawer", "Design the block movement so it lands in the drawer", "Guide the block gently", "ensuring it slips inside the drawer", "Navigate the block into the confines of the drawer", "Micromanage the block transit to the drawer", "Operate the block until it's securely inside the drawer", "Adjust the block path to help it descend into the drawer", "Influence the block to naturally fall into the drawer", "Mobilize the block so it sets in the drawer", "Pave the block way leading it to the drawer", "Instigate the block movement so it lodges in the drawer", "Gentling encourage the block to slide into the drawer", "Orchestrate the block smooth glide into the drawer", "administer the block movement till it sits in the drawer", "Govern the block direction to ensure it rests in the drawer", "Command the block to move and set down in the drawer", "Thoroughly aid the block's successful transition into the drawer."], "stack_block": ["Place the block in your grasp on top of another block", "set the block you are holding on top of another", "put the block in your grasp on top of another", "locate another block and stack the one in your grip on top of it", "move the block you have seized to a position above another block", "then drop it in place", "apply the block you are currently possessing to another block", "use the block in your possession to create a stack with another block", "manipulate the block you have to assemble it on top of another one", "organize the block you're gripping in a stack with a different block", "locate a block and place the one you're holding on top of it.\n\nPut the gripped block on top of another block", "position the block you're holding over another block", "pile the currently grasped block on another", "move the block in your hand to a higher place on another block", "take the block you're gripping and place it on top of another", "move the block in your hold to a stack", "place the block you're gripping on the top of another block", "release the block you're holding onto another block", "drop the block that you've gripped onto another block", "layer the block you're holding on another block.\n\nMount the block in your grasp on another block", "arrange the gripped block on top of a different block", "rest the block you're manipulating on top of another one", "stack the seized block on a different one", "lay the currently held block over another block", "situate the block you're holding on top of another", "overlay the clung block on another", "perch the block you're holding above another block", "heap the gripped block on another", "pile up the block in your hand on another block.\n\nStack up the seized block on top of another one", "place the block in hand on top of another", "balance the block you're holding atop another", "deposit the grasped block on a different one", "sit the picked block over another block", "align the gripped block on top of another", "rest the handled block on top of another one", "put on the block in hand on another block", "locate another block and set the one you're holding on top of it", "position the block in your grip on top of another one.\n\nElevate the block in hand and stack on another", "place the clenched block atop another", "mount the block in your grip on another", "posistion the seized block on top of another", "apply the block in hand over another block", "put up the held block on top of another", "stack high the grasped block on another", "situate the clenched block on top of another one", "set on the block in hand over another block", "locate and place the gripped block on top of another block."], "unstack_block": ["Take off the piled block", "proceed to lift the stacked block", "get rid of the arranged block on top", "meticulously move the stack structure", "eliminate the superimposed block", "disassemble the block tower", "extract the top from the arranged pile", "unhinge the super stacked item", "retrieve the piece from the top", "pull away the assembled block", "exercise the removal of the block compilation", "detach the stacked entity", "dislocate the deposit of the block", "disarrange the aligned block", "disperse the top entity of the stack", "overturn the block pillar", "oust the piled element", "unpile the structure", "dislodge the amassed block", "remove the block setup.\n\nEvict the tower component", "eradicate the block arrangement", "decompose the stacked series", "discharge the pile", "uninstall the heavyweight", "liberate the heavy load", "unfasten the upper block", "take away the accumulated block", "take down the upright setup", "eradicate the brick layout", "uproot the block construction", "unwrap the mounted block", "discharge the accumulated partition", "deracinate the column", "separate the block from the stack\n\nPull out the set block", "let loose the fixed blocks", "untie the sizable load", "unpack the collected pile", "unload the heavy weight", "disengage the assembled load", "dispose of the tower", "detach the erected structure", "disconnect the stuck items", "declutter the stacked blocks", "uncouple the loaded structure", "disband the tall arrangement", "dismount the set block", "unsettle the structured load", "break down the set pile", "disentangle the intertwined blocks", "clear off the top block", "weed out the upper block", "disconnect the layered blocks", "release the strained load."], "turn_on_lightbulb": ["Activate the switch to illuminate the light bulb", "Flip the switch to light up the bulb", "Use the lever to turn the light bulb on", "Engage the switch to set off the light bulb", "Manipulate the switch to power the light source", "Operate the switch to commence the bulb", "Switch on the light bulb", "Press the switch to start the bulb's illumination", "Adjust the control to initiate the light", "Rotate the knob to ignite the light bulb", "Move the switch to enable the bulb", "Twist the knob to trigger the light bulb", "Handle the switch to stimulate the bulb", "Grasp the switch to produce light from bulb", "Utilize the switch to ignite the bulb", "Spin the knob to function the bulb", "Action the switch to radiate the light bulb", "Supervise the switch to launch the bulb", "Take control of the switch to liven the bulb", "Tap the switch to activate the light", "Use the controller to light the bulb", "Entail the button to lit up the bulb", "Execute the act of switching on the bulb", "Implement the procedure of starting the bulb by using a switch", "Involve the switch to light the bulb", "Launch the operation of the bulb via the switch", "Initiate the process to light the bulb with the switch", "Control the switch to make the bulb sparkle", "Command the switch to brighten the light bulb", "Direct the switch to enhance the bulb's light", "Turn up the switch to light the bulb", "Convert the bulb's state from off to on by using the switch", "Ignite the bulb through switch", "Fire up the bulb by operating the switch", "Kick off the light by using the bulb's switch", "Set going the bulb via switch", "Jump-start the bulb's light by turning the switch", "Propel the bulb's glow by triggering the switch", "Start the bulb's shine by handling the switch", "Lead the operation of the light by flipping the bulb", "Employ the use of the switch to light the bulb", "Stir the bulb's light by turning the switch on", "Wake up the bulb's light by pressing the switch", "Engender the bulb's light by rotating the switch knob", "Evoke the bulb's brilliance by moving the switch", "Kindle the bulb's sparkle by adjusting the switch", "Trigger the source of the light bulb by twisting the knob", "Spark the bulb into life by taking control of the switch."], "turn_off_lightbulb": ["Use the switch to extinguish the light bulb", "employ the switch to kill the light bulb", "utilize the button to halt the illumination", "use the lever to stop the lighting", "employ the toggle to cut the light", "activate the switch to end the brightness", "manipulate the switch to terminate the light", "push the button to put out the light", "flick the switch to stop the glow", "press the switch to extinguish the light", "use the controller to shut off the light", "turn the knob to put off the light", "hit the switch to erase the light", "utilize the dial to end the glow", "switch off the light source", "operate the lever to cut off illumination", "flick off the lighting", "use the switch to stop the light source", "actuate the switch to turn out light", "utilize the control to nullify the light", "flip the switch to pause the lighting", "use the switch to inhibit the light", "maneuver the switch to deactivate the lighting", "turn off the light bulb by using the switch", "apply the switch to end the illumination", "use the controller to turn down the light", "exercise the switch to switch off the bulb", "manipulate the switch to dispel the light", "put out the light via switch", "put the light to rest using the switch", "utilize the switch to quell the light", "use the switch to mute the light bulb", "enact the switch to cease the light", "use the toggle to put the light bulb out", "press the switch to darken the room", "use the button to dim the light", "activate the toggle to cut out the light", "make use of the switch to black out the light", "actuate the switch to snuff out the light", "use the switch to neutralize light", "manipulate the dial to end the luminosity", "put into action the switch to shut down the light", "use the switch to cool down the light", "utilize the switch to fade out the light", "use the switch to silence the light", "maneuver the switch to stop the radiance", "turn the dial to eliminate the light", "use the switch to suppress the glow", "use the switch to turn down the illumination", "use the control to turn out the light bulb."], "turn_on_led": ["Activate the LED by pushing the button", "press the key to illuminate the LED light", "switch on the LED light by pressing the button", "tap the button to turn on the LED", "press the switch to illuminate the LED bulb", "switch on the LED by pressing the button", "tap the button to trigger the LED light", "push the control to start the LED light", "touch the button to ignite the LED light", "depress the button to bring the LED light to life", "hit the button to light up the LED. \n\nTurn on the LED light by pushing the button", "set off the LED light by hitting the switch", "click the button to illuminate the LED", "activate the LED by pressing the switch", "depress the key to ignite the LED", "push the knob to enable the LED light", "press the button to power on the LED", "trigger the LED light by pressing the switch", "press the button to switch on the LED light", "click the button to light up the LED", "start the LED illumination by pressing the button. \n\nActivate the LED light by pressing the button", "initiate LED illumination by pressing the button", "press the switch to ignite the LED light", "push the button to trigger the LED illumination", "click the button to activate the LED", "switch on the LED by tapping the button", "depress the button to set off the LED light", "hit the button to kick-start the LED light", "touch the switch to enable the LED light", "set in motion the LED light by pressing the button. \n\nPress the button to activate the LED light", "light up the LED by pressing the switch", "press the button to power the LED", "kick-start the LED light by pushing the button", "press the button to energize the LED", "push the button to trigger the LED light on", "press the button to initiate the LED illumination", "power on the LED by pressing the button", "light the LED by pushing the button", "press the button to set off the LED light. \n\nLaunch the LED light by pressing the button", "press the button to sparkle the LED", "press the switch to turn on the glowing LED", "light the LED by pressing its button", "hit the button to start the LED light", "turn on the LED by pressing the button", "press the button to actuate the LED light", "light up the LED by pressing its switch", "switch on the LED light by pressing the button", "trigger the LED light by hitting the button."], "turn_off_led": ["Push the button to switch off the LED light", "tap the switch to kill the LED illumination", "hit the button to deactivate the LED brightness", "click the switch to shut down the LED light", "touch the button to disconnect the LED light", "make a contact with the button to shut off the LED light source", "engage the button stop the LED light", "jab the button to extinguish the LED glow", "stab at the button to end the LED radiance", "bring pressure to the button to cease the LED illumination", "depress the button to terminate the LED brightness", "engage the button to halt the LED's glow", "manipulate the button to close the LED light", "operate the switch to disconnect the LED light", "control the button to extinguish the LED glow", "handle the switch to disable the LED light", "twiddle the switch to turn off the LED illumination", "press down on the button to stop the LED light", "push lightly on the switch to terminate the LED brightness", "knock the button to shut off the LED glow", "hit lightly the button to end the LED radiance", "give the switch a light tap to cease the LED light", "prod the button to disconnect the LED illumination", "lightly touch the switch to turn off the LED brightness", "fiddle with the switch to kill the LED glow", "nudge the button to stop the LED light", "poke the button to shut down the LED light source", "prod the switch to extinguish the LED brightness", "dab the button to end the LED radiance", "gently press the button to cease the LED glow", "pat the button to switch off the LED light", "softly push the switch to kill the LED brightness", "mildly hit the button to stop the LED light", "lightly jab the switch to end the LED glow", "make light contact with the button to shut down the LED light", "make a gentle pressure on the switch to extinguish the LED illumination", "slightly depress the button to cease the LED brightness", "softly nudge the switch to disconnect the LED light", "gently prod the button to turn off the LED glow", "mildly tap the switch to terminate the LED light", "slightly knock on the switch to shut off the LED brightness", "tenderly hit the button to kill the LED light", "lightly pat the button to stop the LED glow", "gently engage the switch to end the LED illumination", "softly operate the button to cease the LED light source", "mildly control the switch to extinguish LED light", "gently handle the button to switch off the LED glow", "lightly manipulate the button to disconnect the LED brightness", "tenderly press down on the switch to shut down the LED light", "mildly handle the button to halt the LED brilliance", "slightly fiddle with the switch to end the LED source of light", "gently poke the button to switch off the LED illumination", "around manipulate the switch to deactivate the LED light", "carefully nudge the button to stop the LED glow."]} \ No newline at end of file diff --git a/VLA-Adapter-UAV/vla-scripts/evaluate_calvin.py b/VLA-Adapter-UAV/vla-scripts/evaluate_calvin.py new file mode 100644 index 0000000000000000000000000000000000000000..3c98ec6f25b12f1b3fbf37575b4e5d74714263ee --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/evaluate_calvin.py @@ -0,0 +1,920 @@ +"""Code to evaluate Calvin.""" +import argparse +import json +import logging +import os +# os.environ['PYTHONPATH'] = '/root/RoboDual:' + os.environ.get('PYTHONPATH', '') +from collections import deque +# from peft import PeftModel +from pathlib import Path +# import sys +# sys.path.insert(0, '/root/RoboDual') +import time +import copy +from moviepy.editor import ImageSequenceClip +from accelerate import Accelerator +from datetime import timedelta +from accelerate.utils import InitProcessGroupKwargs +# from openvla.prismatic.vla.action_tokenizer import ActionTokenizer +# This is for using the locally installed repo clone when using slurm +from calvin_agent.models.calvin_base_model import CalvinBaseModel +from prismatic.models.projectors import NoisyActionProjector, ProprioProjector +from prismatic.models.action_heads import L1RegressionActionHead +from prismatic.vla.constants import ( + ACTION_DIM, + ACTION_PROPRIO_NORMALIZATION_TYPE, +) +from peft import LoraConfig, get_peft_model +from transformers import AutoModelForVision2Seq, AutoProcessor, BitsAndBytesConfig +from transformers import AutoConfig, AutoImageProcessor +from prismatic.extern.hf.configuration_prismatic import OpenVLAConfig +from prismatic.extern.hf.processing_prismatic import PrismaticImageProcessor, PrismaticProcessor +from prismatic.extern.hf.modeling_prismatic import OpenVLAForActionPrediction +# sys.path.insert(0, Path(__file__).absolute().parents[2].as_posix()) + +from calvin_agent.evaluation.multistep_sequences import get_sequences +from calvin_agent.evaluation.utils import ( + count_success, + get_env_state_for_initial_condition, + get_log_dir, +) +import hydra +import numpy as np +from omegaconf import OmegaConf +from pytorch_lightning import seed_everything +from termcolor import colored +import torch +from tqdm.auto import tqdm + +from vla_evaluation import DualSystemCalvinEvaluation + +from experiments.robot.openvla_utils import ( + get_action_head, + get_noisy_action_projector, + get_processor, + get_proprio_projector, + resize_image_for_policy, +) +# from ema_pytorch import EMA +from transformers.modeling_outputs import CausalLMOutputWithPast +from experiments.robot.robot_utils import ( + DATE_TIME, + get_action, + get_image_resize_size, + get_model, + invert_gripper_action, + normalize_gripper_action, + set_seed_everywhere, +) +# logger = logging.getLogger(__name__) + +os.environ["FFMPEG_BINARY"] = "auto-detect" +os.environ["CALVIN_ROOT"] = "calvin" +CALVIN_ROOT = os.environ['CALVIN_ROOT'] + +from collections import Counter +import json +import numpy as np +from typing import Optional, Union +from pathlib import Path +from dataclasses import dataclass +import draccus + +import os +import torch + + + +DEVICE = torch.device("cuda:0" if torch.cuda.is_available() else "cpu") + +@dataclass +class GenerateConfig: + # fmt: off + + ################################################################################################################# + # Model-specific parameters + ################################################################################################################# + model_family: str = "openvla" # Model family + pretrained_checkpoint: Union[str, Path] = "../outputs/calvin-abc" # Pretrained checkpoint path + + use_minivla: bool = False # If True, + + use_l1_regression: bool = True # If True, uses continuous action head with L1 regression objective + use_diffusion: bool = False # If True, uses continuous action head with diffusion modeling objective (DDIM) + use_x0_prediction: bool = False + num_diffusion_steps: int = 50 # (When `diffusion==True`) Number of diffusion steps for inference + use_film: bool = False # If True, uses FiLM to infuse language inputs into visual features + num_images_in_input: int = 2 # Number of images in the VLA input (default: 1) + use_proprio: bool = True # Whether to include proprio state in input + + center_crop: bool = False # Center crop? (if trained w/ random crop image aug) + num_open_loop_steps: int = 8 # Number of actions to execute open-loop before requerying policy + + unnorm_key: Union[str, Path] = "" # Action un-normalization key + + load_in_8bit: bool = False # (For OpenVLA only) Load with 8-bit quantization + load_in_4bit: bool = False # (For OpenVLA only) Load with 4-bit quantization + + ################################################################################################################# + # LIBERO environment-specific parameters + ################################################################################################################# + # task_suite_name: str = TaskSuite.LIBERO_SPATIAL # Task suite + num_steps_wait: int = 10 # Number of steps to wait for objects to stabilize in sim + num_trials_per_task: int = 50 # Number of rollouts per task + initial_states_path: str = "DEFAULT" # "DEFAULT", or path to initial states JSON file + # env_img_res: int = 256 # Resolution for environment images (not policy input resolution) +################################################################################################################# + # CALVIN + ################################################################################################################# + calvin_path: str = "calvin" + log_dir: str = "log" + with_depth: bool = True + with_gripper: bool = True + with_cfg: bool = True + enrich_lang: bool = False + + ################################################################################################################# + # Utils + ################################################################################################################# + run_id_note: Optional[str] = None # Extra note to add to end of run ID for logging + local_log_dir: str = "./experiments/logs" # Local directory for eval logs + + use_wandb: bool = False # Whether to also log results in Weights & Biases + wandb_entity: str = "your-wandb-entity" # Name of WandB entity + wandb_project: str = "your-wandb-project" # Name of WandB project + + seed: int = 7 # Random Seed (for reproducibility) + + # fmt: on + save_version: str = "Pro" # version of exps + +def print_and_save(results, sequences, eval_result_path, task_name=None, epoch=None): + current_data = {} + print(f"Results for Epoch {epoch}:") + avg_seq_len = np.mean(results) + chain_sr = {i + 1: sr for i, sr in enumerate(count_success(results))} + print(f"Average successful sequence length: {avg_seq_len}") + print("Success rates for i instructions in a row:") + for i, sr in chain_sr.items(): + print(f"{i}: {sr * 100:.1f}%") + + cnt_success = Counter() + cnt_fail = Counter() + + for result, (_, sequence) in zip(results, sequences): + for successful_tasks in sequence[:result]: + cnt_success[successful_tasks] += 1 + if result < len(sequence): + failed_task = sequence[result] + cnt_fail[failed_task] += 1 + + total = cnt_success + cnt_fail + task_info = {} + for task in total: + task_info[task] = {"success": cnt_success[task], "total": total[task]} + print(f"{task}: {cnt_success[task]} / {total[task]} | SR: {cnt_success[task] / total[task] * 100:.1f}%") + + data = {"avg_seq_len": avg_seq_len, "chain_sr": chain_sr, "task_info": task_info} + + current_data[epoch] = data + + # model_name = 'vla-test' + if not os.path.isdir(f'./{task_name}'): + os.mkdir(f'./{task_name}') + with open(f'./{task_name}/split_{torch.cuda.current_device()}.json', "w") as file: + json.dump(chain_sr, file) + + print() + previous_data = {} + json_data = {**previous_data, **current_data} + with open(eval_result_path, "w") as file: + json.dump(json_data, file) + print( + f"Best model: epoch {max(json_data, key=lambda x: json_data[x]['avg_seq_len'])} " + f"with average sequences length of {max(map(lambda x: x['avg_seq_len'], json_data.values()))}" + ) + + +def make_env(dataset_path, observation_space, device): + val_folder = Path(dataset_path) / "validation" + from calvin_env_wrapper import CalvinEnvWrapperRaw + env = CalvinEnvWrapperRaw(val_folder, observation_space, device) + return env + + +def evaluate_policy(model, env, eval_sr_path, eval_result_path, num_procs, procs_id, eval_dir, ep_len, num_sequences, task_name='test', enrich_lang=False, debug=False): + conf_dir = Path(f"{CALVIN_ROOT}/calvin_models") / "conf" + task_cfg = OmegaConf.load(conf_dir / "callbacks/rollout/tasks/new_playtable_tasks.yaml") + task_oracle = hydra.utils.instantiate(task_cfg) + + + if enrich_lang: + with open('/root/RoboDual/vla-scripts/enrich_lang_annotations.json', 'r') as f: + val_annotations = json.load(f) + else: + val_annotations = OmegaConf.load(conf_dir / "annotations/new_playtable_validation.yaml") + + # val_annotations = {key: val for key, val in val_annotations.items() if 'push' in key and 'right' in key} # 只保留了push something right的任务！！！！！！！！ + eval_dir = get_log_dir(eval_dir) + eval_sequences = get_sequences(num_sequences) + + num_seq_per_procs = num_sequences // num_procs + eval_sequences = eval_sequences[num_seq_per_procs * procs_id:num_seq_per_procs * (procs_id + 1)] + + results = [] + if not debug: + eval_sequences = tqdm(eval_sequences, position=0, leave=True) + + sequence_i = 0 + for initial_state, eval_sequence in eval_sequences: + result = evaluate_sequence(env, model, task_oracle, initial_state, eval_sequence, val_annotations, debug, eval_dir, sequence_i, ep_len) + results.append(result) + if not debug: + success_list = count_success(results) + with open(eval_sr_path, 'a') as f: + line = f"{sequence_i}/{num_sequences}: " + for sr in success_list: + line += f"{sr:.3f} | " + sequence_i += 1 + line += "\n" + f.write(line) + eval_sequences.set_description( + " ".join([f"{i + 1}/5 : {v * 100:.1f}% |" for i, v in enumerate(success_list)]) + "|" + ) + else: + sequence_i += 1 + print_and_save(results, eval_sequences, eval_result_path, task_name, None) + return results + + +def evaluate_sequence(env, model, task_checker, initial_state, eval_sequence, val_annotations, debug, eval_dir, sequence_i, ep_len): + robot_obs, scene_obs = get_env_state_for_initial_condition(initial_state) + env.reset(robot_obs=robot_obs, scene_obs=scene_obs) + success_counter = 0 + if debug: + time.sleep(1) + print() + print() + print(f"Evaluating sequence: {' -> '.join(eval_sequence)}") + print("Subtask: ", end="") + for subtask_i, subtask in enumerate(eval_sequence): + success = rollout_hi3(env, model, task_checker, subtask, val_annotations, debug, eval_dir, subtask_i, sequence_i, ep_len) + if success: # return 5!!!!!!!!!!!!!!!!!!! + # print('success: ', subtask_i) + success_counter += 1 + else: + return success_counter + return success_counter + + +def normalize_gripper_action(action: np.ndarray, binarize: bool = True) -> np.ndarray: + """ + Normalize gripper action from [0,1] to [-1,+1] range. + + This is necessary for some environments because the dataset wrapper + standardizes gripper actions to [0,1]. Note that unlike the other action + dimensions, the gripper action is not normalized to [-1,+1] by default. + + Normalization formula: y = 2 * (x - orig_low) / (orig_high - orig_low) - 1 + + Args: + action: Action array with gripper action in the last dimension + binarize: Whether to binarize gripper action to -1 or +1 + + Returns: + np.ndarray: Action array with normalized gripper action + """ + # Create a copy to avoid modifying the original + normalized_action = action.copy() + + # Normalize the last action dimension to [-1,+1] + orig_low, orig_high = 0.0, 1.0 + normalized_action[..., -1] = 2 * (normalized_action[..., -1] - orig_low) / (orig_high - orig_low) - 1 + + if binarize: + # Binarize to -1 or +1 + # normalized_action[..., -1] = np.sign(normalized_action[..., -1]) + sign = np.sign(normalized_action[..., -1]) + sign = np.array(sign) # Ensure it is an array and not a scalar + sign[sign == 0.0] = 1 # Change 0 to 1 + sign[sign == -0.0] = -1 # Change -0 to -1 + normalized_action[..., -1] = sign + + return normalized_action + + +def invert_gripper_action(action: np.ndarray) -> np.ndarray: + """ + Flip the sign of the gripper action (last dimension of action vector). + + This is necessary for environments where -1 = open, +1 = close, since + the RLDS dataloader aligns gripper actions such that 0 = close, 1 = open. + + Args: + action: Action array with gripper action in the last dimension + + Returns: + np.ndarray: Action array with inverted gripper action + """ + # Create a copy to avoid modifying the original + inverted_action = action.copy() + + # Invert the gripper action + inverted_action[..., -1] *= -1.0 + + return inverted_action + + +def process_action(action, model_family): + """Process action before sending to environment.""" + # Normalize gripper action [0,1] -> [-1,+1] because the environment expects the latter + action = normalize_gripper_action(action, binarize=True) + + # [OpenVLA] The dataloader flips the sign of the gripper action to align with other datasets + # (0 = close, 1 = open), so flip it back (-1 = open, +1 = close) before executing the action + if model_family == "openvla": + action = invert_gripper_action(action) + + return action + + +def rollout(env, model, task_oracle, subtask, val_annotations, debug, eval_dir, subtask_i, sequence_i, ep_len): + if debug: + print(f"{subtask} ", end="") + time.sleep(0.5) + obs = env.get_obs() + lang_annotation = val_annotations[subtask][0] + model.reset() + start_info = env.get_info() + + img_dict = { + 'static': [], + 'gripper': [], + } + action_queue = deque(maxlen=8) + + for step in range(ep_len): + if len(action_queue) == 0: + actions = model.step(obs, lang_annotation, step) + action_queue.extend(actions) + + action = action_queue.popleft() # {ndarray: (7,)} + action = process_action(action, "openvla") + obs, reward, done, current_info = env.step(action.tolist()) + + + img_dict['static'].append(copy.deepcopy(obs['rgb_obs']['rgb_static'])) + img_dict['gripper'].append(copy.deepcopy(obs['rgb_obs']['rgb_gripper'])) + + # check if current step solves a task + current_task_info = task_oracle.get_task_info_for_set(start_info, current_info, {subtask}) + if len(current_task_info) > 0: + print(colored("success", "green"), end=" ") + for key in img_dict.keys(): + clip = ImageSequenceClip(img_dict[key], fps=50) + clip.write_videofile(os.path.join(eval_dir, f'{sequence_i}-{subtask_i}-{subtask}-{key}-succ.mp4'), fps=50, codec='libx264', bitrate="5000k") + return True + + print(colored("fail", "red"), end=" ") + for key in img_dict.keys(): + clip = ImageSequenceClip(img_dict[key], fps=50) + clip.write_videofile(os.path.join(eval_dir, f'{sequence_i}-{subtask_i}-{subtask}-{key}-fail.mp4'), fps=50, codec='libx264', bitrate="5000k") + return False + +import os +import time +import copy +import numpy as np +from moviepy.editor import ImageSequenceClip +from termcolor import colored + + +def rollout_hi3(env, model, task_oracle, subtask, val_annotations, debug, eval_dir, subtask_i, sequence_i, ep_len): + if debug: + print(f"{subtask} ", end="") + time.sleep(0.5) + + obs = env.get_obs() + lang_annotation = val_annotations[subtask][0] + model.reset() + start_info = env.get_info() + + img_dict = { + 'static': [], + 'gripper': [], + } + + for step in range(80): + action_buffers = [None, None, None] + + action_buffers[0] = model.step(obs, lang_annotation, 0) # 8个动作 + action = action_buffers[0][0] + action = process_action(action, "openvla") + obs, reward, done, current_info = env.step(action.tolist()) + + img_dict['static'].append(copy.deepcopy(obs['rgb_obs']['rgb_static'])) + img_dict['gripper'].append(copy.deepcopy(obs['rgb_obs']['rgb_gripper'])) + + current_task_info = task_oracle.get_task_info_for_set(start_info, current_info, {subtask}) + if len(current_task_info) > 0: + print(colored("success", "green"), end=" ") + for key in img_dict.keys(): + clip = ImageSequenceClip(img_dict[key], fps=50) + clip.write_videofile(os.path.join(eval_dir, f'{sequence_i}-{subtask_i}-{subtask}-{key}-succ.mp4'), fps=50, codec='libx264', bitrate="5000k") + return True + + action_buffers[1] = model.step(obs, lang_annotation, 1) + action = (action_buffers[0][1] + action_buffers[1][0]) / 2 + action = process_action(action, "openvla") + obs, reward, done, current_info = env.step(action.tolist()) + + img_dict['static'].append(copy.deepcopy(obs['rgb_obs']['rgb_static'])) + img_dict['gripper'].append(copy.deepcopy(obs['rgb_obs']['rgb_gripper'])) + + current_task_info = task_oracle.get_task_info_for_set(start_info, current_info, {subtask}) + if len(current_task_info) > 0: + print(colored("success", "green"), end=" ") + for key in img_dict.keys(): + clip = ImageSequenceClip(img_dict[key], fps=50) + clip.write_videofile(os.path.join(eval_dir, f'{sequence_i}-{subtask_i}-{subtask}-{key}-succ.mp4'), fps=50, codec='libx264', bitrate="5000k") + return True + + action_buffers[2] = model.step(obs, lang_annotation, 2) + action = (action_buffers[0][2] + action_buffers[1][1] + action_buffers[2][0]) / 3 + action = process_action(action, "openvla") + obs, reward, done, current_info = env.step(action.tolist()) + + img_dict['static'].append(copy.deepcopy(obs['rgb_obs']['rgb_static'])) + img_dict['gripper'].append(copy.deepcopy(obs['rgb_obs']['rgb_gripper'])) + + current_task_info = task_oracle.get_task_info_for_set(start_info, current_info, {subtask}) + if len(current_task_info) > 0: + print(colored("success", "green"), end=" ") + for key in img_dict.keys(): + clip = ImageSequenceClip(img_dict[key], fps=50) + clip.write_videofile(os.path.join(eval_dir, f'{sequence_i}-{subtask_i}-{subtask}-{key}-succ.mp4'), fps=50, codec='libx264', bitrate="5000k") + return True + + for t in range(2, 7): + action = (action_buffers[0][t] + action_buffers[1][t-1] + action_buffers[2][t-2]) / 3 + action = process_action(action, "openvla") + obs, reward, done, current_info = env.step(action.tolist()) + + img_dict['static'].append(copy.deepcopy(obs['rgb_obs']['rgb_static'])) + img_dict['gripper'].append(copy.deepcopy(obs['rgb_obs']['rgb_gripper'])) + + current_task_info = task_oracle.get_task_info_for_set(start_info, current_info, {subtask}) + if len(current_task_info) > 0: + print(colored("success", "green"), end=" ") + for key in img_dict.keys(): + clip = ImageSequenceClip(img_dict[key], fps=50) + clip.write_videofile(os.path.join(eval_dir, f'{sequence_i}-{subtask_i}-{subtask}-{key}-succ.mp4'), fps=50, codec='libx264', bitrate="5000k") + return True + + action = (action_buffers[1][7] + action_buffers[2][6]) / 2 + action = process_action(action, "openvla") + obs, reward, done, current_info = env.step(action.tolist()) + + img_dict['static'].append(copy.deepcopy(obs['rgb_obs']['rgb_static'])) + img_dict['gripper'].append(copy.deepcopy(obs['rgb_obs']['rgb_gripper'])) + + current_task_info = task_oracle.get_task_info_for_set(start_info, current_info, {subtask}) + if len(current_task_info) > 0: + print(colored("success", "green"), end=" ") + for key in img_dict.keys(): + clip = ImageSequenceClip(img_dict[key], fps=50) + clip.write_videofile(os.path.join(eval_dir, f'{sequence_i}-{subtask_i}-{subtask}-{key}-succ.mp4'), fps=50, codec='libx264', bitrate="5000k") + return True + + action = action_buffers[2][7] + action = process_action(action, "openvla") + obs, reward, done, current_info = env.step(action.tolist()) + + img_dict['static'].append(copy.deepcopy(obs['rgb_obs']['rgb_static'])) + img_dict['gripper'].append(copy.deepcopy(obs['rgb_obs']['rgb_gripper'])) + + current_task_info = task_oracle.get_task_info_for_set(start_info, current_info, {subtask}) + if len(current_task_info) > 0: + print(colored("success", "green"), end=" ") + for key in img_dict.keys(): + clip = ImageSequenceClip(img_dict[key], fps=50) + clip.write_videofile(os.path.join(eval_dir, f'{sequence_i}-{subtask_i}-{subtask}-{key}-succ.mp4'), fps=50, codec='libx264', bitrate="5000k") + return True + + print(colored("fail", "red"), end=" ") + for key in img_dict.keys(): + clip = ImageSequenceClip(img_dict[key], fps=50) + clip.write_videofile(os.path.join(eval_dir, f'{sequence_i}-{subtask_i}-{subtask}-{key}-fail.mp4'), fps=50, codec='libx264', bitrate="5000k") + return False + + +def update_image_data(img_dict, obs): + img_dict['static'].append(copy.deepcopy(obs['rgb_obs']['rgb_static'])) + img_dict['gripper'].append(copy.deepcopy(obs['rgb_obs']['rgb_gripper'])) + +def check_success(start_info, current_info, subtask, task_oracle): + return len(task_oracle.get_task_info_for_set(start_info, current_info, {subtask})) > 0 + +def handle_success(img_dict, eval_dir, sequence_i, subtask_i, subtask): + print(colored("success", "green"), end=" ") + for key in img_dict.keys(): + clip = ImageSequenceClip(img_dict[key], fps=50) + clip.write_videofile(os.path.join(eval_dir, f'{sequence_i}-{subtask_i}-{subtask}-{key}-succ.mp4'), + fps=50, codec='libx264', bitrate="5000k") + return True + + + + + +from huggingface_hub import HfApi, hf_hub_download +import shutil +from datetime import datetime +import filecmp +from typing import Any, Dict, List, Optional, Tuple, Union +def model_is_on_hf_hub(model_path: str) -> bool: + """Checks whether a model path points to a model on Hugging Face Hub.""" + # If the API call below runs without error, the model is on the hub + try: + HfApi().model_info(model_path) + return True + except Exception: + return False + + +def update_auto_map(pretrained_checkpoint: str) -> None: + """ + Update the AutoMap configuration in the checkpoint config.json file. + + This loads the config.json file inside the checkpoint directory and overwrites + the AutoConfig and AutoModelForVision2Seq fields to use OpenVLA-specific classes. + + Args: + pretrained_checkpoint: Path to the checkpoint directory + """ + if not os.path.isdir(pretrained_checkpoint): + return + + config_path = os.path.join(pretrained_checkpoint, "config.json") + if not os.path.exists(config_path): + print(f"Warning: No config.json found at {config_path}") + return + + # Create timestamped backup + + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + backup_path = os.path.join(pretrained_checkpoint, f"config.json.back.{timestamp}") + shutil.copy2(config_path, backup_path) + print(f"Created backup of original config at: {os.path.abspath(backup_path)}") + + # Read and update the config + with open(config_path, "r") as f: + config = json.load(f) + + config["auto_map"] = { + "AutoConfig": "configuration_prismatic.OpenVLAConfig", + "AutoModelForVision2Seq": "modeling_prismatic.OpenVLAForActionPrediction", + } + + # Write back the updated config + with open(config_path, "w") as f: + json.dump(config, f, indent=2) + + print(f"Updated config.json at: {os.path.abspath(config_path)}") + print("Changes made:") + print(' - Set AutoConfig to "configuration_prismatic.OpenVLAConfig"') + print(' - Set AutoModelForVision2Seq to "modeling_prismatic.OpenVLAForActionPrediction"') + + +def check_identical_files(path1: Union[str, Path], path2: Union[str, Path]) -> bool: + """ + Check if two files are identical in content. + + Args: + path1: Path to the first file + path2: Path to the second file + + Returns: + bool: True if files are identical, False otherwise + """ + path1, path2 = Path(path1), Path(path2) + + # First check if file sizes match + if path1.stat().st_size != path2.stat().st_size: + return False + + # Check if contents match + return filecmp.cmp(path1, path2, shallow=False) + + + + +def _handle_file_sync(curr_filepath: str, checkpoint_filepath: str, file_type: str) -> None: + """ + Handle syncing of files between current directory and checkpoint. + + Creates backups if files exist but differ, and copies current versions to checkpoint. + + Args: + curr_filepath: Path to the current file version + checkpoint_filepath: Path where the file should be in the checkpoint + file_type: Description of the file type for logging + """ + if os.path.exists(checkpoint_filepath): + # Check if existing files are identical + match = check_identical_files(curr_filepath, checkpoint_filepath) + + if not match: + print( + "\n------------------------------------------------------------------------------------------------\n" + f"Found mismatch between:\n" + f"Current: {curr_filepath}\n" + f"Checkpoint: {checkpoint_filepath}\n" + ) + + # Create timestamped backup + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + backup_path = f"{checkpoint_filepath}.back.{timestamp}" + shutil.copy2(checkpoint_filepath, backup_path) + print(f"Created backup of original checkpoint file at: {os.path.abspath(backup_path)}") + + # Copy current version to checkpoint directory + shutil.copy2(curr_filepath, checkpoint_filepath) + print(f"Copied current version to checkpoint at: {os.path.abspath(checkpoint_filepath)}") + print( + f"Changes complete. The checkpoint will now use the current version of {file_type}" + "\n------------------------------------------------------------------------------------------------\n" + ) + else: + # If file doesn't exist in checkpoint directory, copy it + shutil.copy2(curr_filepath, checkpoint_filepath) + print( + "\n------------------------------------------------------------------------------------------------\n" + f"No {file_type} found in checkpoint directory.\n" + f"Copied current version from: {curr_filepath}\n" + f"To checkpoint location: {os.path.abspath(checkpoint_filepath)}" + "\n------------------------------------------------------------------------------------------------\n" + ) + + +def check_model_logic_mismatch(pretrained_checkpoint: str) -> None: + """ + Check and sync model logic files between current code and checkpoint. + + Handles the relationship between current and checkpoint versions of both + modeling_prismatic.py and configuration_prismatic.py: + - If checkpoint file exists and differs: creates backup and copies current version + - If checkpoint file doesn't exist: copies current version + + Args: + pretrained_checkpoint: Path to the checkpoint directory + """ + if not os.path.isdir(pretrained_checkpoint): + return + + # Find current files + curr_files = {"modeling_prismatic.py": None, "configuration_prismatic.py": None} + + for root, _, files in os.walk("./prismatic/"): + for filename in curr_files.keys(): + if filename in files and curr_files[filename] is None: + curr_files[filename] = os.path.join(root, filename) + + # Check and handle each file + for filename, curr_filepath in curr_files.items(): + if curr_filepath is None: + print(f"WARNING: `{filename}` is not found anywhere in the current directory.") + continue + + checkpoint_filepath = os.path.join(pretrained_checkpoint, filename) + _handle_file_sync(curr_filepath, checkpoint_filepath, filename) + + +def load_component_state_dict(checkpoint_path: str) -> Dict[str, torch.Tensor]: + """ + Load a component's state dict from checkpoint and handle DDP prefix if present. + + Args: + checkpoint_path: Path to the checkpoint file + + Returns: + Dict: The processed state dictionary for loading + """ + state_dict = torch.load(checkpoint_path, weights_only=True) + + # If the component was trained with DDP, elements in the state dict have prefix "module." which we must remove + new_state_dict = {} + for k, v in state_dict.items(): + if k.startswith("module."): + new_state_dict[k[7:]] = v + else: + new_state_dict[k] = v + + return new_state_dict + + +def find_checkpoint_file(pretrained_checkpoint: str, file_pattern: str) -> str: + """ + Find a specific checkpoint file matching a pattern. + + Args: + pretrained_checkpoint: Path to the checkpoint directory + file_pattern: String pattern to match in filenames + + Returns: + str: Path to the matching checkpoint file + + Raises: + AssertionError: If no files or multiple files match the pattern + """ + assert os.path.isdir(pretrained_checkpoint), f"Checkpoint path must be a directory: {pretrained_checkpoint}" + + checkpoint_files = [] + for filename in os.listdir(pretrained_checkpoint): + if file_pattern in filename and "checkpoint" in filename: + full_path = os.path.join(pretrained_checkpoint, filename) + checkpoint_files.append(full_path) + + assert len(checkpoint_files) == 1, ( + f"Expected exactly 1 {file_pattern} checkpoint but found {len(checkpoint_files)} in directory: {pretrained_checkpoint}" + ) + + return checkpoint_files[0] + + +def check_unnorm_key(cfg: GenerateConfig, model) -> None: + """Check that the model contains the action un-normalization key.""" + # Initialize unnorm_key + unnorm_key = cfg.task_suite_name + + # In some cases, the key must be manually modified (e.g. after training on a modified version of the dataset + # with the suffix "_no_noops" in the dataset name) + if unnorm_key not in model.norm_stats and f"{unnorm_key}_no_noops" in model.norm_stats: + unnorm_key = f"{unnorm_key}_no_noops" + + assert unnorm_key in model.norm_stats, f"Action un-norm key {unnorm_key} not found in VLA `norm_stats`!" + + # Set the unnorm_key in cfg + cfg.unnorm_key = unnorm_key + + +DATE_TIME = time.strftime("%Y_%m_%d-%H_%M_%S") +logging.basicConfig( + level=logging.INFO, + format="%(asctime)s [%(levelname)s] %(message)s", + handlers=[logging.StreamHandler()], +) +logger = logging.getLogger(__name__) +import wandb +def setup_logging(cfg): + """Set up logging to file and optionally to wandb.""" + # Create run ID + run_id = f"EVAL-{cfg.task_suite_name}-{cfg.model_family}-{DATE_TIME}" + if cfg.run_id_note is not None: + run_id += f"--{cfg.run_id_note}" + + # Set up local logging + os.makedirs(cfg.local_log_dir, exist_ok=True) + local_log_filepath = os.path.join(cfg.local_log_dir, run_id + ".txt") + log_file = open(local_log_filepath, "w") + logger.info(f"Logging to local log file: {local_log_filepath}") + + # Initialize Weights & Biases logging if enabled + if cfg.use_wandb: + wandb.init( + entity=cfg.wandb_entity, + project=cfg.wandb_project, + name=run_id, + ) + + return log_file, local_log_filepath, run_id + + + +def _load_dataset_stats(vla: torch.nn.Module, checkpoint_path: str) -> None: + """ + Load dataset statistics used during training for action normalization. + + Args: + vla: The VLA model + checkpoint_path: Path to the checkpoint directory + """ + if model_is_on_hf_hub(checkpoint_path): + # Download dataset stats directly from HF Hub + dataset_statistics_path = hf_hub_download( + repo_id=checkpoint_path, + filename="dataset_statistics.json", + ) + else: + dataset_statistics_path = os.path.join(checkpoint_path, "dataset_statistics.json") + if os.path.isfile(dataset_statistics_path): + with open(dataset_statistics_path, "r") as f: + norm_stats = json.load(f) + vla.norm_stats = norm_stats + else: + print( + "WARNING: No local dataset_statistics.json file found for current checkpoint.\n" + "You can ignore this if you are loading the base VLA (i.e. not fine-tuned) checkpoint." + "Otherwise, you may run into errors when trying to call `predict_action()` due to an absent `unnorm_key`." + ) + + + +MODEL_IMAGE_SIZES = { + "openvla": 224, + # Add other models as needed +} + +def validate_config(cfg: GenerateConfig) -> None: + """Validate configuration parameters.""" + assert cfg.pretrained_checkpoint is not None, "pretrained_checkpoint must not be None!" + + # if "image_aug" in str(cfg.pretrained_checkpoint): + # assert cfg.center_crop, "Expecting `center_crop==True` because model was trained with image augmentations!" + + assert not (cfg.load_in_8bit and cfg.load_in_4bit), "Cannot use both 8-bit and 4-bit quantization!" + + +def get_image_resize_size(model_family) -> Union[int, tuple]: + return MODEL_IMAGE_SIZES[model_family] + +def initialize_model(cfg: GenerateConfig): + """Initialize model and associated components.""" + # Load model + model = get_model(cfg) + model.set_version(cfg.save_version) + # Load proprio projector if needed + proprio_projector = None + if cfg.use_proprio: + proprio_projector = get_proprio_projector( + cfg, + model.llm_dim, + proprio_dim=8, # 8-dimensional proprio for LIBERO + ) + + # Load action head if needed + action_head = None + if cfg.use_l1_regression or cfg.use_diffusion: + action_head = get_action_head(cfg, model.llm_dim) + + # Load noisy action projector if using diffusion + noisy_action_projector = None + if cfg.use_diffusion: + noisy_action_projector = get_noisy_action_projector(cfg, model.llm_dim) + + # Get OpenVLA processor if needed + processor = None + if cfg.model_family == "openvla": + processor = get_processor(cfg) + # check_unnorm_key(cfg, model) + + return model, action_head, proprio_projector, noisy_action_projector, processor + +@draccus.wrap() +def main(cfg: GenerateConfig): + seed_everything(cfg.seed) + + kwargs = InitProcessGroupKwargs(timeout=timedelta(seconds=3600)) + acc = Accelerator(kwargs_handlers=[kwargs]) + # device = acc.device + validate_config(cfg) + + model, action_head, proprio_projector, noisy_action_projector, processor = initialize_model(cfg) + + current_time=time.strftime("%Y-%m-%d_%H-%M-%S") + + save_path = f'./evaluation_results' + observation_space = { + 'rgb_obs': ['rgb_static', 'rgb_gripper'], # rgb_tactile + 'depth_obs': ['depth_static', 'depth_gripper'], + 'state_obs': ['robot_obs'], + 'actions': ['rel_actions'], + 'language': ['language']} + eval_dir = save_path + f'/calvin/{current_time}_{cfg.pretrained_checkpoint.split("/")[-1]}/' + os.makedirs(eval_dir, exist_ok=True) + env = make_env(os.path.join(CALVIN_ROOT, 'dataset/task_ABC_D'), observation_space, DEVICE) + + + eva = DualSystemCalvinEvaluation(model, proprio_projector, noisy_action_projector, action_head, processor, use_x0_prediction=cfg.use_x0_prediction) + avg_reward = torch.tensor(evaluate_policy( + eva, + env, + eval_dir + 'success_rate.txt', + eval_dir + 'result.txt', + acc.num_processes, + acc.process_index, + eval_dir=eval_dir, + ep_len=360, + num_sequences=1000, + enrich_lang=cfg.enrich_lang, + debug=False, + )).float().mean().to(DEVICE) + + acc.wait_for_everyone() + avg_reward = acc.gather_for_metrics(avg_reward).mean() + if acc.is_main_process: + print('average success rate ', avg_reward) + + +if __name__ == "__main__": + main() diff --git a/VLA-Adapter-UAV/vla-scripts/extern/convert_openvla_weights_to_hf.py b/VLA-Adapter-UAV/vla-scripts/extern/convert_openvla_weights_to_hf.py new file mode 100644 index 0000000000000000000000000000000000000000..5774954898d2e3c40b0417e477aca582f6471c3b --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/extern/convert_openvla_weights_to_hf.py @@ -0,0 +1,272 @@ +""" +convert_openvla_weights_to_hf.py + +Utility script for converting full OpenVLA VLA weights (from this repository, in the default "Prismatic" format) to +the HuggingFace "AutoClasses" (e.g., those defined in `prismatic.extern.hf_*`) for "native" use in `transformers`` +via `trust_remote_code = True`. + +Theoretically, these changes should be fully compatible with directly merging the models into `transformers` down the +line, with first-class support. + +Usage: + python vla-scripts/extern/convert_openvla_weights_to_hf.py \ + --openvla_model_path_or_id \ + --output_hf_model_local_path +""" + +import json +import os +import shutil +from dataclasses import dataclass +from pathlib import Path +from typing import Dict, Union + +import draccus +import timm +import torch +import torch.nn as nn +from huggingface_hub import hf_hub_download +from timm.models.vision_transformer import LayerScale +from transformers import AutoTokenizer + +from prismatic.conf import ModelConfig +from prismatic.extern.hf.configuration_prismatic import OpenVLAConfig +from prismatic.extern.hf.modeling_prismatic import OpenVLAForActionPrediction +from prismatic.extern.hf.processing_prismatic import PrismaticImageProcessor, PrismaticProcessor + + +@dataclass +class HFConvertConfig: + # fmt: off + openvla_model_path_or_id: Union[str, Path] = ( # Path to Pretrained VLA (on disk or HF Hub) + "runs/prism-dinosiglip-224px+mx-oxe-magic-soup-plus+n8+b32+x7" + ) + output_hf_model_local_path: Path = Path( # Path to Local Path to save HF model + "hf-convert/openvla-7b" + ) + output_hf_model_hub_path: str = "openvla/openvla-7b" # (Optional) Path to HF Hub Path to push + # model to + + # HF Hub Credentials (required for Gated Models like LLaMa-2) + hf_token: Union[str, Path] = Path(".hf_token") # Environment variable or Path to HF Token + + def __post_init__(self) -> None: + self.hf_token = self.hf_token.read_text().strip() if isinstance(self.hf_token, Path) else self.hf_token + + # fmt: on + + +# HF Transformers overwrites parameters with names containing `gamma`; we're going to patch VisionBackbone.LayerScale. +# =>> TIMM :: https://github.com/huggingface/pytorch-image-models/blob/main/timm/models/vision_transformer.py#L109 +# =>> Transformers :: https://github.com/huggingface/transformers/blob/main/src/transformers/modeling_utils.py#L3960 +def _ls_new_forward(self, x: torch.Tensor) -> torch.Tensor: + return x.mul_(self.scale_factor) if self.inplace else x * self.scale_factor + + +def ls_apply_patch(ls_module: LayerScale): + ls_module.scale_factor = nn.Parameter(ls_module.gamma.clone()) + ls_module.forward = _ls_new_forward.__get__(ls_module, LayerScale) + del ls_module.gamma + + +# === Conversion Constants === +PROJECTOR_KEY_MAPPING = { + "projector.0.weight": "projector.fc1.weight", + "projector.0.bias": "projector.fc1.bias", + "projector.2.weight": "projector.fc2.weight", + "projector.2.bias": "projector.fc2.bias", + "projector.4.weight": "projector.fc3.weight", + "projector.4.bias": "projector.fc3.bias", +} + + +def remap_state_dicts_for_hf( + prismatic_vision_backbone_state_dict: Dict[str, torch.Tensor], + projector_state_dict: Dict[str, torch.Tensor], + llm_backbone_state_dict: Dict[str, torch.Tensor], + use_fused_vision_backbone: bool = False, +) -> Dict[str, torch.Tensor]: + """Iterate through Prismatic component state dictionaries and unify / fix key mapping for HF conversion.""" + hf_state_dict = {} + + # Iterate through Projector =>> use `PROJECTOR_KEY_MAPPING` + for key, value in projector_state_dict.items(): + hf_state_dict[PROJECTOR_KEY_MAPPING[key]] = value + + # Iterate through LLM Backbone =>> replace `llm.` with `language_model.` + for key, value in llm_backbone_state_dict.items(): + hf_state_dict[key.replace("llm.", "language_model.")] = value + + # Iterate through Vision Backbone =>> add "vision_backbone." prefix + if not use_fused_vision_backbone: + for key, value in prismatic_vision_backbone_state_dict.items(): + hf_state_dict[key.replace("featurizer.", "vision_backbone.featurizer.")] = value + else: + # Note =>> Assumes that backbones are always DINO + SigLIP... + for key, value in prismatic_vision_backbone_state_dict.items(): + if key.startswith("dino_featurizer"): + if key.endswith(".gamma"): + # Handle `LayerScale gamma` =>> DINOv2 only! + key = key.replace(".gamma", ".scale_factor") + hf_state_dict[key.replace("dino_featurizer.", "vision_backbone.featurizer.")] = value + elif key.startswith("siglip_featurizer"): + hf_state_dict[key.replace("siglip_featurizer.", "vision_backbone.fused_featurizer.")] = value + + return hf_state_dict + + +@draccus.wrap() +def convert_openvla_weights_to_hf(cfg: HFConvertConfig) -> None: + print(f"[*] Converting OpenVLA Model `{cfg.openvla_model_path_or_id}` to HF Transformers Format") + torch.set_default_dtype(torch.bfloat16) + + # Get `config.json`, 'dataset_statistics.json' and `checkpoint_pt` -- mirrors logic in `prismatic.models.load.py` + if os.path.isdir(cfg.openvla_model_path_or_id): + print(f"[*] Loading from Local Path `{(run_dir := Path(cfg.openvla_model_path_or_id))}`") + config_json, checkpoint_pt = run_dir / "config.json", run_dir / "checkpoints" / "latest-checkpoint.pt" + dataset_statistics_json = run_dir / "dataset_statistics.json" + + assert config_json.exists(), f"Missing `config.json` for `{run_dir = }`" + assert checkpoint_pt.exists(), f"Missing checkpoint for `{run_dir = }`" + assert dataset_statistics_json.exists(), f"Missing `dataset_statistics.json` for `{run_dir = }`" + else: + print(f"[*] Downloading Prismatic Checkpoint from HF Hub :: `TRI-ML/{cfg.openvla_model_path_or_id}`") + config_json = hf_hub_download("openvla/openvla-dev", f"{cfg.openvla_model_path_or_id}/config.json") + checkpoint_pt = hf_hub_download( + "openvla/openvla-dev", f"{cfg.openvla_model_path_or_id}/checkpoints/latest-checkpoint.pt" + ) + dataset_statistics_json = hf_hub_download( + "openvla/openvla-dev", f"{cfg.openvla_model_path_or_id}/dataset_statistics.json" + ) + + # Load "Native" Config JSON =>> Create LLM Config & Instantiate Tokenizer + with open(config_json, "r") as f: + vla_cfg = json.load(f)["vla"] + prismatic_config = ModelConfig.get_choice_class(vla_cfg["base_vlm"])().__dict__ + + # Load Normalization Statistics + with open(dataset_statistics_json, "r") as f: + norm_stats = json.load(f) + + # Create HF OpenVLAConfig (`transformers.PretrainedConfig`) + hf_config = OpenVLAConfig( + vision_backbone_id=prismatic_config["vision_backbone_id"], + llm_backbone_id=prismatic_config["llm_backbone_id"], + arch_specifier=prismatic_config["arch_specifier"], + image_resize_strategy=prismatic_config["image_resize_strategy"], + llm_max_length=prismatic_config["llm_max_length"], + torch_dtype=torch.bfloat16, + norm_stats=norm_stats, + ) + + # Instantiate & Add Pad to Tokenizer =>> following `prismatic.models.materialize.get_llm_backbone_and_tokenizer` + # TODO (siddk) :: Implement batched generation -- in which case this should set `padding_side = "left"`! + print("[*] Instantiating and Patching Tokenizer, LLM Config") + tokenizer = AutoTokenizer.from_pretrained( + hf_config.hf_llm_id, model_max_length=hf_config.llm_max_length, token=cfg.hf_token, padding_side="right" + ) + tokenizer.add_special_tokens({"pad_token": ""}) + tokenizer.init_kwargs.pop("add_prefix_space", None) # Pop to prevent unnecessary warning on reload... + assert tokenizer.pad_token_id == hf_config.pad_token_id, "Incorrect Pad Token ID!" + assert len(tokenizer) > hf_config.text_config.vocab_size, "Tokenizer vocabulary must be larger than LLM vocabulary!" + + # Patch LLM Config in `hf_config` with vocab_size (+ `hf_config.pad_to_multiple_of`), pad_token_id + validate + hf_config.text_config.vocab_size += hf_config.pad_to_multiple_of + hf_config.text_config.pad_token_id = hf_config.pad_token_id + hf_config.text_config.torch_dtype = torch.bfloat16 + assert hf_config.text_config.use_cache, "LLM config `use_cache` should be True for inference (set default)!" + + # Create Vision Backbone & Transform =>> following `prismatic.models.materialize.get_vision_backbone_and_transform` + # =>> Deviates a bit from existing code; as such, explicitly tested in `tests/test_image_transforms.py` + print("[*] Loading TIMM Vision Backbone(s) and Image Transform(s) =>> Initializing PrismaticImageProcessor") + input_sizes, interpolations, means, stds = [], [], [], [] + for idx, timm_model_id in enumerate(hf_config.timm_model_ids): + timm_vision_backbone = timm.create_model( + timm_model_id, + pretrained=True, + num_classes=0, + img_size=hf_config.image_sizes[idx], + act_layer=hf_config.timm_override_act_layers[idx], + ) + + # Get Per-Backbone Image Processing + data_cfg = timm.data.resolve_model_data_config(timm_vision_backbone) + input_sizes.append((3, hf_config.image_sizes[idx], hf_config.image_sizes[idx])) + interpolations.append(data_cfg["interpolation"]) + means.append(data_cfg["mean"]) + stds.append(data_cfg["std"]) + + # Patch `LayerScale` because of HF annoying `fix_key` overwrite... + for module in timm_vision_backbone.modules(): + if isinstance(module, LayerScale): + ls_apply_patch(module) + + # Create PrismaticImageProcessor (`transformers.ImageProcessingMixin`) + hf_image_processor = PrismaticImageProcessor( + use_fused_vision_backbone=hf_config.use_fused_vision_backbone, + image_resize_strategy=hf_config.image_resize_strategy, + input_sizes=input_sizes, + interpolations=interpolations, + means=means, + stds=stds, + ) + + # Create top-level PrismaticProcessor (`transformers.ProcessorMixin` =>> enables registry w/ AutoProcessor) + print("[*] Creating PrismaticProcessor Instance from Tokenizer and PrismaticImageProcessor") + hf_processor = PrismaticProcessor(image_processor=hf_image_processor, tokenizer=tokenizer) + + # Load Prismatic Model State Dictionary (in preparation for conversion) + print("[*] Loading Prismatic VLM State Dictionary from Checkpoint") + model_state_dict = torch.load(checkpoint_pt, map_location="cpu")["model"] + assert ("downsampler" not in model_state_dict) or (len(model_state_dict["downsampler"]) == 0), "Downsampler?" + assert all([k in model_state_dict for k in ["vision_backbone", "projector", "llm_backbone"]]), "Missing keys!" + + # Convert + print("[*] Running Conversion") + converted_state_dict = remap_state_dicts_for_hf( + model_state_dict["vision_backbone"], + model_state_dict["projector"], + model_state_dict["llm_backbone"], + use_fused_vision_backbone=hf_config.use_fused_vision_backbone, + ) + + # Create PrismaticForConditionalGeneration =>> Note that we can't initialize on `meta` device because TIMM + print("[*] Building (Randomly Initialized) Model =>> OpenVLAForActionPrediction") + hf_model = OpenVLAForActionPrediction(hf_config) + hf_model.load_state_dict(converted_state_dict, strict=True, assign=True) + + # Cast Model to BF16 before Saving + hf_model.to(torch.bfloat16) + + # Save Pretrained Versions to Local Path + print("[*] Saving Model & Processor to Local Path") + hf_model.save_pretrained(cfg.output_hf_model_local_path, max_shard_size="7GB") + hf_image_processor.save_pretrained(cfg.output_hf_model_local_path) + hf_processor.save_pretrained(cfg.output_hf_model_local_path) + + # Copy `dataset_statistics.json` File to Converted Checkpoint Directory + output_dataset_statistics_json = cfg.output_hf_model_local_path / "dataset_statistics.json" + shutil.copyfile(dataset_statistics_json, output_dataset_statistics_json) + + print(f"[*] Saving Complete! Saved converted checkpoint to: {cfg.output_hf_model_local_path}") + + ##################################################################################### + # Optional: Push Model to Hugging Face Hub + ##################################################################################### + + # # Register AutoClasses + # OpenVLAConfig.register_for_auto_class() + # PrismaticImageProcessor.register_for_auto_class("AutoImageProcessor") + # PrismaticProcessor.register_for_auto_class("AutoProcessor") + # OpenVLAForActionPrediction.register_for_auto_class("AutoModelForVision2Seq") + + # # Push to HF Hub + # print("[*] Pushing Model & Processor to HF Hub") + # hf_config.push_to_hub(cfg.output_hf_model_hub_path) + # hf_model.push_to_hub(cfg.output_hf_model_hub_path, max_shard_size="7GB") + # hf_image_processor.push_to_hub(cfg.output_hf_model_hub_path) + # hf_processor.push_to_hub(cfg.output_hf_model_hub_path) + + +if __name__ == "__main__": + convert_openvla_weights_to_hf() diff --git a/VLA-Adapter-UAV/vla-scripts/extern/verify_openvla.py b/VLA-Adapter-UAV/vla-scripts/extern/verify_openvla.py new file mode 100644 index 0000000000000000000000000000000000000000..d76fafb8592871e201d7c9c536b573561ee86919 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/extern/verify_openvla.py @@ -0,0 +1,89 @@ +""" +verify_openvla.py + +Given an HF-exported OpenVLA model, attempt to load via AutoClasses, and verify forward() and predict_action(). +""" + +import time + +import numpy as np +import torch +from PIL import Image +from transformers import AutoModelForVision2Seq, AutoProcessor + +# === Verification Arguments +MODEL_PATH = "openvla/openvla-7b" +SYSTEM_PROMPT = ( + "A chat between a curious user and an artificial intelligence assistant. " + "The assistant gives helpful, detailed, and polite answers to the user's questions." +) +INSTRUCTION = "put spoon on towel" + + +def get_openvla_prompt(instruction: str) -> str: + if "v01" in MODEL_PATH: + return f"{SYSTEM_PROMPT} USER: What action should the robot take to {instruction.lower()}? ASSISTANT:" + else: + return f"In: What action should the robot take to {instruction.lower()}?\nOut:" + + +@torch.inference_mode() +def verify_openvla() -> None: + print(f"[*] Verifying OpenVLAForActionPrediction using Model `{MODEL_PATH}`") + device = torch.device("cuda") if torch.cuda.is_available() else torch.device("cpu") + + # Load Processor & VLA + print("[*] Instantiating Processor and Pretrained OpenVLA") + processor = AutoProcessor.from_pretrained(MODEL_PATH, trust_remote_code=True) + + # === BFLOAT16 + FLASH-ATTN MODE === + print("[*] Loading in BF16 with Flash-Attention Enabled") + vla = AutoModelForVision2Seq.from_pretrained( + MODEL_PATH, + attn_implementation="flash_attention_2", + torch_dtype=torch.bfloat16, + low_cpu_mem_usage=True, + trust_remote_code=True, + ).to(device) + + # === 8-BIT QUANTIZATION MODE (`pip install bitsandbytes`) :: [~9GB of VRAM Passive || 10GB of VRAM Active] === + # print("[*] Loading in 8-Bit Quantization Mode") + # vla = AutoModelForVision2Seq.from_pretrained( + # MODEL_PATH, + # attn_implementation="flash_attention_2", + # torch_dtype=torch.float16, + # quantization_config=BitsAndBytesConfig(load_in_8bit=True), + # low_cpu_mem_usage=True, + # trust_remote_code=True, + # ) + + # === 4-BIT QUANTIZATION MODE (`pip install bitsandbytes`) :: [~6GB of VRAM Passive || 7GB of VRAM Active] === + # print("[*] Loading in 4-Bit Quantization Mode") + # vla = AutoModelForVision2Seq.from_pretrained( + # MODEL_PATH, + # attn_implementation="flash_attention_2", + # torch_dtype=torch.float16, + # quantization_config=BitsAndBytesConfig(load_in_4bit=True), + # low_cpu_mem_usage=True, + # trust_remote_code=True, + # ) + + print("[*] Iterating with Randomly Generated Images") + for _ in range(100): + prompt = get_openvla_prompt(INSTRUCTION) + image = Image.fromarray(np.asarray(np.random.rand(256, 256, 3) * 255, dtype=np.uint8)) + + # === BFLOAT16 MODE === + inputs = processor(prompt, image).to(device, dtype=torch.bfloat16) + + # === 8-BIT/4-BIT QUANTIZATION MODE === + # inputs = processor(prompt, image).to(device, dtype=torch.float16) + + # Run OpenVLA Inference + start_time = time.time() + action = vla.predict_action(**inputs, unnorm_key="bridge_orig", do_sample=False) + print(f"\t=>> Time: {time.time() - start_time:.4f} || Action: {action}") + + +if __name__ == "__main__": + verify_openvla() diff --git a/VLA-Adapter-UAV/vla-scripts/finetune.py b/VLA-Adapter-UAV/vla-scripts/finetune.py new file mode 100644 index 0000000000000000000000000000000000000000..7ed97d6efbd0903e6e91393fdffa4153eec545ef --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/finetune.py @@ -0,0 +1,1486 @@ +""" +finetune.py + +Fine-tunes Qwen2.5-0.5B via LoRA. +""" + +import json +import os +import shutil +import sys +import time +from collections import deque +from datetime import datetime + +# Ensure VLA-Adapter-UAV's own prismatic package is found first +_project_root = os.path.abspath(os.path.join(os.path.dirname(__file__), "..")) +if _project_root in sys.path: + sys.path.remove(_project_root) +sys.path.insert(0, _project_root) +from dataclasses import dataclass +from pathlib import Path +from typing import Dict, Optional, Tuple, Type +import torch.nn.functional as F +import draccus +import torch +import torch.distributed as dist +import torch.nn as nn +import tqdm +from accelerate import PartialState +from peft import LoraConfig, PeftModel, get_peft_model +from torch.nn.parallel import DistributedDataParallel as DDP +from torch.optim import AdamW +from torch.optim.lr_scheduler import MultiStepLR, CosineAnnealingLR +from torch.utils.data import DataLoader +from torch.utils.data.distributed import DistributedSampler +from transformers import AutoConfig, AutoImageProcessor, AutoModelForVision2Seq, AutoProcessor +from transformers.modeling_outputs import CausalLMOutputWithPast +import wandb + +from prismatic.extern.hf.configuration_prismatic import OpenVLAConfig +from prismatic.extern.hf.modeling_prismatic import OpenVLAForActionPrediction +from prismatic.extern.hf.processing_prismatic import PrismaticImageProcessor, PrismaticProcessor +from prismatic.models.action_heads import L1RegressionActionHead +from prismatic.models.first_frame_memory import FirstFrameEpisodeMemory +from prismatic.models.backbones.llm.prompting import PurePromptBuilder, QwenPromptBuilder +from prismatic.models.film_vit_wrapper import FiLMedPrismaticVisionBackbone +from prismatic.models.projectors import ProprioProjector +from prismatic.training.train_utils import ( + compute_actions_l1_loss, + compute_token_accuracy, + get_current_action_mask, + get_next_actions_mask +) +from prismatic.util.data_utils import PaddedCollatorForActionPrediction +from prismatic.vla.action_tokenizer import ActionTokenizer +from prismatic.vla.constants import ( + ACTION_DIM, + ACTION_PROPRIO_NORMALIZATION_TYPE, + NUM_ACTIONS_CHUNK, + PROPRIO_DIM, + NUM_TOKENS, + IGNORE_INDEX, +) +from prismatic.vla.datasets.uav_flow_dataset import UAVFlowDataset +from prismatic.models import load, load_vla + + +def save_dataset_statistics(dataset_statistics: dict, run_dir: Path) -> None: + """Save dataset statistics to a JSON file (inline to avoid RLDS/TF import chain).""" + import numpy as np + + out_path = run_dir / "dataset_statistics.json" + out_path.parent.mkdir(parents=True, exist_ok=True) + serializable = {} + for dataset_name, stats in dataset_statistics.items(): + serializable[dataset_name] = {} + for key, value in stats.items(): + if isinstance(value, dict): + serializable[dataset_name][key] = { + sub_k: sub_v.tolist() if hasattr(sub_v, "tolist") else sub_v + for sub_k, sub_v in value.items() + } + elif isinstance(value, np.ndarray): + serializable[dataset_name][key] = value.tolist() + elif isinstance(value, (np.integer,)): + serializable[dataset_name][key] = int(value) + elif isinstance(value, (np.floating,)): + serializable[dataset_name][key] = float(value) + else: + serializable[dataset_name][key] = value + with open(out_path, "w", encoding="utf-8") as f: + json.dump(serializable, f, indent=2) + + +def resolve_config_dir(config_path: str) -> str: + """Resolve either a config directory or a direct config.json path to a directory.""" + path = Path(config_path) + return str(path if path.is_dir() else path.parent) + + + +# Sane Defaults +os.environ["TOKENIZERS_PARALLELISM"] = "false" + + +# Inline utilities (avoid importing openvla_utils which pulls in tensorflow/RLDS) +def _files_identical(path1, path2): + import filecmp + p1, p2 = Path(path1), Path(path2) + return p1.exists() and p2.exists() and p1.stat().st_size == p2.stat().st_size and filecmp.cmp(p1, p2, shallow=False) + + +def update_auto_map(pretrained_checkpoint): + if not os.path.isdir(pretrained_checkpoint): + return + config_path = os.path.join(pretrained_checkpoint, "config.json") + if not os.path.exists(config_path): + return + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + shutil.copy2(config_path, f"{config_path}.back.{timestamp}") + with open(config_path, "r") as f: + cfg = json.load(f) + cfg["auto_map"] = { + "AutoConfig": "configuration_prismatic.OpenVLAConfig", + "AutoModelForVision2Seq": "modeling_prismatic.OpenVLAForActionPrediction", + } + with open(config_path, "w") as f: + json.dump(cfg, f, indent=2) + + +def check_model_logic_mismatch(pretrained_checkpoint): + if not os.path.isdir(pretrained_checkpoint): + return + sync_files = { + "modeling_prismatic.py": Path(_project_root) / "prismatic" / "extern" / "hf" / "modeling_prismatic.py", + "configuration_prismatic.py": Path(_project_root) / "prismatic" / "extern" / "hf" / "configuration_prismatic.py", + } + timestamp = datetime.now().strftime("%Y%m%d_%H%M%S") + for filename, current_path in sync_files.items(): + if not current_path.exists(): + continue + ckpt = Path(pretrained_checkpoint) / filename + if ckpt.exists() and _files_identical(current_path, ckpt): + continue + if ckpt.exists(): + shutil.copy2(ckpt, f"{ckpt}.back.{timestamp}") + shutil.copy2(current_path, ckpt) + + +def update_model_norm_stats(model, dataset_statistics: dict) -> None: + """Attach dataset normalization statistics to the VLA model and its config. + + VLA-Adapter persists these stats as ``dataset_statistics.json``, while + OpenVLA-style inference also expects ``model.norm_stats`` / ``config.norm_stats``. + Keeping both paths populated makes UAV checkpoints easier to reuse. + """ + if dataset_statistics is None: + return + + if not hasattr(model, "norm_stats") or model.norm_stats is None: + model.norm_stats = {} + model.norm_stats.update(dataset_statistics) + + if hasattr(model, "config"): + if not hasattr(model.config, "norm_stats") or model.config.norm_stats is None: + model.config.norm_stats = {} + # Transformers 的 save_pretrained 会将 config 直接 JSON 序列化。数据集 + # 统计量包含 numpy.ndarray，因此 config 中必须保存其 list 副本；模型 + # 运行时的 model.norm_stats 仍保留原始 ndarray 供动作反归一化使用。 + def to_jsonable(value): + if isinstance(value, dict): + return {key: to_jsonable(item) for key, item in value.items()} + if isinstance(value, (list, tuple)): + return [to_jsonable(item) for item in value] + if hasattr(value, "tolist"): + return value.tolist() + if hasattr(value, "item"): + return value.item() + return value + + model.config.norm_stats = to_jsonable(model.norm_stats) + + +@dataclass +class FinetuneConfig: + # fmt: off + config_file_path: str = "openvla/openvla-7b" # Path to necessary config files of LA-Adapter + vlm_path: str = "openvla/openvla-7b" # Path to OpenVLA model (on HuggingFace Hub or stored locally) + use_minivlm: bool = False # + resum_vla_path: str = "openvla/openvla-7b" # Path to OpenVLA model (on HuggingFace Hub or stored locally) + + # Dataset + data_root_dir: Path = Path("datasets/rlds") # Directory containing RLDS datasets + dataset_name: str = "aloha_scoop_x_into_bowl" # Name of fine-tuning dataset (e.g., `aloha_scoop_x_into_bowl`) + run_root_dir: Path = Path("runs") # Path to directory to store logs & checkpoints + shuffle_buffer_size: int = 100_000 # Dataloader shuffle buffer size (can reduce if OOM errors occur) + + # Algorithm and architecture + use_l1_regression: bool = True # If True, trains continuous action head with L1 regression objective + use_diffusion: bool = False # If True, trains continuous action head with diffusion modeling objective (DDIM) + num_diffusion_steps: int = 50 # (When `diffusion==True`) Number of diffusion steps for training + use_film: bool = False # If True, uses FiLM to infuse language inputs into visual features + num_images_in_input: int = 1 # Number of images in the VLA input (default: 1) + use_proprio: bool = False # If True, includes robot proprioceptive state in input + use_first_frame_memory: bool = False # 使用首帧和初始状态构建 episode 级记忆 + num_first_frame_memory_tokens: int = 8 + num_first_frame_memory_tokens: int = 8 # episode 级记忆 token 数 + first_frame_memory_heads: int = 8 + first_frame_memory_heads: int = 8 + + # Training configuration + batch_size: int = 8 # Batch size per device (total batch size = batch_size * num GPUs) + learning_rate: float = 5e-4 # Learning rate + lr_warmup_steps: int = 0.1 # Number of steps to warm up learning rate (from 10% to 100%) + num_steps_before_decay: int = 100000 # Number of steps before LR decays by 10x + grad_accumulation_steps: int = 1 # Number of gradient accumulation steps + max_grad_norm: float = 1.0 # Clip gradient norm; set <= 0 to disable + max_steps: int = 200000 # Max number of training steps + use_val_set: bool = False # If True, uses validation set and log validation metrics + val_freq: int = 10_000 # (When `use_val_set==True`) Validation set logging frequency in steps + val_time_limit: int = 180 # (When `use_val_set==True`) Time limit for computing validation metrics + save_freq: int = 10_000 # Checkpoint saving frequency in steps + console_log_freq: int = 1000 # Console metrics logging frequency in steps + save_latest_checkpoint_only: bool = False # If True, saves only 1 checkpoint, overwriting latest checkpoint + # (If False, saves all checkpoints) + resume: bool = False # If True, resumes from checkpoint + resume_step: Optional[int] = None # (When `resume==True`) Step number that we are resuming from + image_aug: bool = True # If True, trains with image augmentations (HIGHLY RECOMMENDED) + diffusion_sample_freq: int = 50 # (When `use_diffusion==True`) Frequency for sampling in steps + + # LoRA + use_lora: bool = False # If True, uses LoRA fine-tuning + lora_rank: int = 32 # Rank of LoRA weight matrix + lora_dropout: float = 0.0 # Dropout applied to LoRA weights + merge_lora_during_training: bool = False # If True, merges LoRA weights and saves result during training + # Note: Merging can be very slow on some machines. If so, set to + # False and merge final checkpoint offline! + + # Full Finetune + use_fz: bool = False # If True, uses LoRA fine-tuning + + # Logging + wandb_entity: str = "your-wandb-entity" # Name of WandB entity + wandb_project: str = "your-wandb-project" # Name of WandB project + run_id_note: Optional[str] = None # Extra note to add to end of run ID for logging + run_id_override: Optional[str] = None # Optional string to override the run ID with + wandb_log_freq: int = 10 # WandB logging frequency in steps + disable_wandb: bool = False # If True, disables W&B completely + show_progress_bar: bool = False # If True, shows tqdm progress bar on main process + + # revision version + use_pro_version: bool = True # the version number + phase: str = "Training" + # fmt: on + + + +def remove_ddp_in_checkpoint(state_dict) -> dict: + """ + Removes the 'module.' prefix from parameter names in a PyTorch model state dictionary that was saved using + DistributedDataParallel (DDP). + + When a model is trained using PyTorch's DistributedDataParallel, the saved state dictionary contains parameters + prefixed with 'module.'. This function removes these prefixes to make the state dictionary compatible when + loading into models that are not yet wrapped in DDP. + + Args: + state_dict (dict): PyTorch model state dictionary. + + Returns: + dict: A new state dictionary with the same contents but with 'module.' prefixes removed from parameter names. + Parameters without the 'module.' prefix remain unchanged. + """ + new_state_dict = {} + for k, v in state_dict.items(): + if k[:7] == "module.": + new_state_dict[k[7:]] = v + else: + new_state_dict[k] = v + return new_state_dict + + + +def get_run_id(cfg) -> str: + """ + Generates or retrieves an identifier string for an experiment run. + + Args: + cfg (FinetuneConfig): Training configuration. + + Returns: + str: Experiment run ID. + """ + if cfg.run_id_override is not None: + # Override the run ID with the user-provided ID + run_id = cfg.run_id_override + elif cfg.resume: + # Override run ID with the previous resumed run's ID + run_id = cfg.config_file_path.split("/")[-1] + # Remove the "--XXX_chkpt" suffix from the run ID if it exists + if "chkpt" in run_id.split("--")[-1]: + run_id = "--".join(run_id.split("--")[:-1]) + else: + run_id = ( + f"{cfg.config_file_path.split('/')[-1]}+{cfg.dataset_name}" + f"+b{cfg.batch_size * cfg.grad_accumulation_steps}" + f"+lr-{cfg.learning_rate}" + ) + if cfg.use_fz: + run_id += f"+frozen+dropout-{cfg.lora_dropout}" + if cfg.use_lora: + run_id += f"+lora-r{cfg.lora_rank}+dropout-{cfg.lora_dropout}" + if cfg.image_aug: + run_id += "--image_aug" + if cfg.run_id_note is not None: + run_id += f"--{cfg.run_id_note}" + return run_id + + + +def load_checkpoint(module_name: str, path: str, step: int, device: str = "cpu") -> dict: + """ + Loads a checkpoint for a given module. + + Args: + module_name (str): Name of model component to load checkpoint for. + path (str): Path to checkpoint directory. + step (int): Gradient step number of saved checkpoint. + device (str): String specifying how to remap storage locations (default = "cpu"). + + Returns: + dict: PyTorch model state dictionary. + """ + checkpoint_path = os.path.join(path, f"{module_name}--{step}_checkpoint.pt") + print(f"Loading checkpoint: {checkpoint_path}") + state_dict = torch.load(checkpoint_path, weights_only=True, map_location=device) + return remove_ddp_in_checkpoint(state_dict) + + +def wrap_ddp( + module: nn.Module, + device_id: int, + find_unused: bool = False, + static_graph: bool = False, +) -> DDP: + """ + Wrap a module with DistributedDataParallel. + + Args: + module (nn.Module): PyTorch module. + device_id (str): Device ID. + find_unused (bool): Whether to detect parameters without gradients in distributed training. + + Returns: + DistributedDataParallel: PyTorch module wrapped with DDP. + """ + return DDP( + module, + device_ids=[device_id], + find_unused_parameters=find_unused, + gradient_as_bucket_view=True, + # 第二阶段每个 iteration 都会以同一套 VLA 参数分别编码首帧和当前帧。 + # 对 DDP 来说这是固定图，而不是两个独立训练 iteration；显式声明可避免 + # 梯度检查点与 LoRA 共同使用时将 action_queries 标记为 ready 两次。 + static_graph=static_graph, + ) + + + +def count_parameters(module: nn.Module, name: str) -> None: + """ + Counts and prints the number of trainable parameters in a module. + + Args: + module (nn.Module): PyTorch module. + module_name (str): Name of model component. + + Returns: + None. + """ + num_params = sum(p.numel() for p in module.parameters() if p.requires_grad) + + print(f"# trainable params in {name}: {num_params}") + + +def compute_grad_norm(parameters) -> float: + """Compute total L2 grad norm for an iterable of parameters.""" + norms = [p.grad.detach().float().norm(2) for p in parameters if p.grad is not None] + if not norms: + return 0.0 + return float(torch.linalg.vector_norm(torch.stack(norms), 2).item()) + + +def get_process_memory_mb(device_id: int) -> Dict[str, float]: + """Return lightweight CPU/GPU memory diagnostics for the current process.""" + cpu_rss_mb = float("nan") + try: + import psutil + + cpu_rss_mb = psutil.Process(os.getpid()).memory_info().rss / (1024 ** 2) + except Exception: + pass + + return { + "cpu_rss_mb": cpu_rss_mb, + "gpu_alloc_mb": torch.cuda.memory_allocated(device_id) / (1024 ** 2), + "gpu_reserved_mb": torch.cuda.memory_reserved(device_id) / (1024 ** 2), + } + + +def repeat_dataloader(dataloader): + """Repeat a finite dataloader forever without caching yielded batches.""" + while True: + for batch in dataloader: + yield batch + + + +def init_module( + module_class: Type[nn.Module], + module_name: str, + cfg: FinetuneConfig, + device_id: int, + module_args: dict, + to_bf16: bool = False, + find_unused_params: bool = False, +) -> DDP: + """ + Initializes a module, optionally loads checkpoint, moves to device, and wraps with DDP. + + Args: + module_class (Type[nn.Module]): Class of PyTorch module to initialize. + module_name (str): Name of model component to load checkpoint for. + cfg (FinetuneConfig): Training configuration. + device_id (str): Device ID. + module_args (dict): Args for initializing the module. + to_bf16 (bool): Whether to convert to torch.bfloat16 data type. + find_unused_params (bool): Whether to detect parameters without gradients in distributed training. + + Returns: + DistributedDataParallel: PyTorch module wrapped with DDP. + """ + module = module_class(**module_args) + count_parameters(module, module_name) + + if cfg.resume: + state_dict = load_checkpoint(module_name, cfg.resum_vla_path, cfg.resume_step) + module.load_state_dict(state_dict) + print('loaded!!!!!!!!!') + + if to_bf16: + module = module.to(torch.bfloat16) + module = module.to(device_id) + + return wrap_ddp(module, device_id, find_unused_params) + + + +def run_forward_pass( + vla, + action_head, + first_frame_memory, + proprio_projector, + batch, + action_tokenizer, + device_id, + use_l1_regression, + use_proprio, + use_film, + num_patches, + compute_diffusion_l1=False, + use_pro_version=True, + cfg=None +) -> Tuple[torch.Tensor, Dict[str, float]]: + """ + Compute model forward pass and metrics for both training and validation. + + Args: + vla (OpenVLAForActionPrediction): Vision-language-action policy. + action_head (nn.Module): Action head module. + noisy_action_projector (nn.Module): Noisy action projector module (only used for diffusion). + proprio_projector (nn.Module): Proprioceptive state projector module. + batch (dict): Input batch. + action_tokenizer (ActionTokenizer): Action tokenizer. + device_id (str): Device ID. + use_l1_regression (bool): Whether to use L1 regression. + use_diffusion (bool): Whether to use diffusion. + use_proprio (bool): Whether to use proprioceptive state as input. + use_film (bool): Whether to use FiLM for better language following. + num_patches (int): Number of vision patches. + compute_diffusion_l1 (bool): Whether to sample actions and compute L1 loss for diffusion (do this once every + diffusion_sample_freq steps during training; do it every batch for validation) + num_diffusion_steps (int): Number of diffusion steps (only used for diffusion). + + Returns: + tuple: (loss, metrics_dict) + loss: The loss tensor with gradient for backpropagation. + metrics_dict: Dictionary of computed metrics (detached values for logging). + """ + metrics = {} + + # Get ground-truth action labels + ground_truth_actions = batch["actions"].to(device_id).float() + noise, noisy_actions, diffusion_timestep_embeddings = None, None, None + + # VLA forward pass + with torch.autocast("cuda", dtype=torch.bfloat16): + output: CausalLMOutputWithPast = vla( + input_ids=batch["input_ids"].to(device_id), + attention_mask=batch["attention_mask"].to(device_id), + pixel_values=batch["pixel_values"].to(torch.bfloat16).to(device_id), + labels=batch["labels"], + output_hidden_states=True, + proprio=batch["proprio"] if use_proprio else None, + proprio_projector=proprio_projector if use_proprio else None, + noisy_actions=None, + noisy_action_projector=None, + diffusion_timestep_embeddings=None, + use_film=use_film, + ) + + + # Get action masks needed for logging + ground_truth_token_ids = batch["labels"][:,1:].to(device_id) + current_action_mask = get_current_action_mask(ground_truth_token_ids) + next_actions_mask = get_next_actions_mask(ground_truth_token_ids) + + # Compute metrics for discrete action representation (next-token prediction) + if not (use_l1_regression): + loss = output.loss + predicted_token_ids = output.logits[:, num_patches:-1].argmax(dim=2) + + curr_action_accuracy = compute_token_accuracy( + predicted_token_ids, + ground_truth_token_ids, + mask=current_action_mask + ) + curr_action_l1_loss = compute_actions_l1_loss( + action_tokenizer, + predicted_token_ids, + ground_truth_token_ids, + mask=current_action_mask + ) + next_actions_accuracy = compute_token_accuracy( + predicted_token_ids, + ground_truth_token_ids, + mask=next_actions_mask + ) + next_actions_l1_loss = compute_actions_l1_loss( + action_tokenizer, + predicted_token_ids, + ground_truth_token_ids, + mask=next_actions_mask + ) + + metrics.update( + { + "loss_value": loss.item(), # Detached value for logging + "curr_action_accuracy": curr_action_accuracy.item(), + "curr_action_l1_loss": curr_action_l1_loss.item(), + "next_actions_accuracy": next_actions_accuracy.item(), + "next_actions_l1_loss": next_actions_l1_loss.item(), + } + ) + + # Compute metrics for continuous action representations (L1 regression) + else: + # Get last layer hidden states + multi_layer_hidden_states = [] + + for item in output.hidden_states[0:]: + # last_hidden_states = output.hidden_states[-1] # (B, seq_len, D) + # Get hidden states for text portion of prompt+response (after the vision patches) + text_hidden_states = item[:, num_patches:-1] + # Get hidden states for action portion of response + batch_size = batch["input_ids"].shape[0] + # actions_hidden_states = text_hidden_states[:, -1, :].reshape(batch_size, 1, -1).to(torch.bfloat16) + actions_hidden_states = text_hidden_states[current_action_mask | next_actions_mask].reshape(batch_size, 1,NUM_TOKENS, -1) + task_latten_states = item[:, :num_patches].reshape(batch_size, 1, num_patches , -1) + all_hidden_states = torch.cat((task_latten_states, actions_hidden_states),2) + multi_layer_hidden_states.append(all_hidden_states) + multi_layer_hidden_states = torch.cat(multi_layer_hidden_states, dim = 1) + if not torch.isfinite(multi_layer_hidden_states).all(): + raise FloatingPointError("Non-finite values in multi_layer_hidden_states before action_head.") + + predicted_actions = action_head.module.predict_action( + multi_layer_hidden_states, + proprio=batch["proprio"] if use_proprio else None, + proprio_projector=proprio_projector if use_proprio else None, + episode_memory_hidden_states=None, + phase=cfg.phase, + ) + if not torch.isfinite(predicted_actions).all(): + pred_min = predicted_actions.detach().float().amin().item() + pred_max = predicted_actions.detach().float().amax().item() + raise FloatingPointError( + f"Non-finite values in predicted_actions before L1 loss: min={pred_min}, max={pred_max}" + ) + + action_loss = torch.nn.L1Loss()(predicted_actions, ground_truth_actions) + loss = action_loss + + metrics.update( + { + "loss_value": loss.item(), "action_loss": action_loss.item(), + "pred_action_abs_max": predicted_actions.detach().float().abs().amax().item(), + "pred_action_mean": predicted_actions.detach().float().mean().item(), + "gt_action_abs_max": ground_truth_actions.detach().float().abs().amax().item(), + } + ) + + # Get detailed L1 losses for logging + should_log_l1_loss = use_l1_regression + if should_log_l1_loss: + ground_truth_curr_action = ground_truth_actions[:, 0] + predicted_curr_action = predicted_actions[:, 0] + ground_truth_next_actions = ground_truth_actions[:, 1:] + predicted_next_actions = predicted_actions[:, 1:] + curr_action_l1_loss = torch.nn.L1Loss()(ground_truth_curr_action, predicted_curr_action) + next_actions_l1_loss = torch.nn.L1Loss()(ground_truth_next_actions, predicted_next_actions) + metrics.update( + { + "curr_action_l1_loss": curr_action_l1_loss.item(), + "next_actions_l1_loss": next_actions_l1_loss.item(), + } + ) + + # Return both the loss tensor (with gradients) and the metrics dictionary (with detached values) + return loss, metrics + + + +def compute_smoothened_metrics(metrics_deques) -> dict: + """ + Compute smoothened metrics from recent deques. + + Args: + metrics_deques (dict): Dictionary of deques containing recent metrics. + + Returns: + dict: Dictionary of smoothened metrics. + """ + smoothened_metrics = {} + for name, deque in metrics_deques.items(): + if deque and len(deque) > 0: + smoothened_metrics[name] = sum(deque) / len(deque) + return smoothened_metrics + + +def log_metrics_to_wandb(metrics, prefix, step, wandb_entity) -> None: + """ + Log metrics to Weights & Biases. + + Args: + metrics (dict): Dictionary of metrics to log + prefix (str): Prefix for metric names + step (int): Training step + wandb_entity (str): W&B entity instance + + Returns: + None. + """ + log_dict = {} + for name, value in metrics.items(): + # Map loss_value to Loss for better readability in W&B + if name == "loss_value": + log_dict[f"{prefix}/Loss"] = value + # Keep other metrics as is + else: + log_dict[f"{prefix}/{name.replace('_', ' ').title()}"] = value + wandb_entity.log(log_dict, step=step) + + + +def save_training_checkpoint( + cfg, + run_dir, + log_step, + vla, + processor, + proprio_projector, + noisy_action_projector, + action_head, + first_frame_memory, + train_dataset, + distributed_state, + new_state_dict=None, + +) -> None: + """ + Save all training checkpoints including model components, LoRA adapter, and dataset statistics. + + Args: + cfg (FinetuneConfig): Training configuration. + run_dir (Path): Experiment run directory path. + log_step (int): Current logging step. + vla (OpenVLAForActionPrediction): Vision-language-action policy. + processor (PrismaticProcessor): OpenVLA inputs processor. + proprio_projector (nn.Module): Proprioceptive state projector module. + noisy_action_projector (nn.Module): Noisy action projector module (only used for diffusion). + action_head (nn.Module): Action head module. + train_dataset (RLDSDataset): Training dataset. + distributed_state (PartialState): Distributed training state. + + Returns: + None. + """ + # Determine checkpoint paths and naming + if cfg.save_latest_checkpoint_only: + checkpoint_dir = run_dir + checkpoint_name_suffix = "latest_checkpoint.pt" + else: + checkpoint_dir = Path(str(run_dir) + f"--{log_step}_chkpt") + checkpoint_name_suffix = f"{log_step}_checkpoint.pt" + + checkpoint_prefix = "first_frame_memory" + + adapter_dir = checkpoint_dir / "lora_adapter" + + # Create directories and save dataset statistics (main process only) + if distributed_state.is_main_process: + os.makedirs(checkpoint_dir, exist_ok=True) + os.makedirs(adapter_dir, exist_ok=True) + save_dataset_statistics(train_dataset.dataset_statistics, checkpoint_dir) + print(f"Saving Model Checkpoint for Step {log_step}") + + # Wait for directories to be created + dist.barrier() + + # Save model components (main process only) + if distributed_state.is_main_process: + # Save processor and LoRA adapter + processor.save_pretrained(checkpoint_dir) + + if cfg.use_fz: + vla.module.save_pretrained(checkpoint_dir) # directly save checkpoint without lora + else: + vla.module.save_pretrained(adapter_dir) + + # Save other components + if cfg.use_proprio and proprio_projector is not None: + torch.save(proprio_projector.state_dict(), checkpoint_dir / f"{checkpoint_prefix}_proprio_projector--{checkpoint_name_suffix}") + + if cfg.use_diffusion and noisy_action_projector is not None: + torch.save( + noisy_action_projector.state_dict(), checkpoint_dir / f"{checkpoint_prefix}_noisy_action_projector--{checkpoint_name_suffix}" + ) + + if cfg.use_l1_regression and action_head is not None: + torch.save(action_head.state_dict(), checkpoint_dir / f"{checkpoint_prefix}_action_head--{checkpoint_name_suffix}") + + if cfg.use_first_frame_memory and first_frame_memory is not None: + torch.save( + first_frame_memory.state_dict(), + checkpoint_dir / f"first_frame_memory--{checkpoint_name_suffix}", + ) + + action_queries = vla.module.get_submodule("base_model.model.action_queries" if cfg.use_lora else "action_queries") + torch.save(action_queries.state_dict(), checkpoint_dir / f"{checkpoint_prefix}_action_queries--{checkpoint_name_suffix}") + + if cfg.use_film: + # To be safe, just save the entire vision backbone (not just FiLM components) + torch.save( + vla.module.vision_backbone.state_dict(), checkpoint_dir / f"vision_backbone--{checkpoint_name_suffix}" + ) + + # Wait for model components to be saved + dist.barrier() + torch.cuda.empty_cache() + + # Merge LoRA weights into base model and save resulting model checkpoint + # Note: Can be very slow on some devices; if so, we recommend merging offline + if cfg.use_lora and cfg.merge_lora_during_training: + if cfg.use_minivlm: + if new_state_dict is None: + raise ValueError("merge_lora_during_training=True requires the base VLA state dict.") + config = AutoConfig.from_pretrained(resolve_config_dir(cfg.config_file_path), local_files_only=True) + base_vla = AutoModelForVision2Seq.from_config(config, torch_dtype=torch.bfloat16) # Create a new model with configuration, the parameters are randomly initialized + # print(new_state_dict['action_queries.weight']) + new_state_dict['action_queries.weight'] = vla.state_dict()['module.base_model.model.action_queries.weight'].cpu() + missing_keys, unexpected_keys = base_vla.load_state_dict(new_state_dict, strict=False) + + else: + base_vla = AutoModelForVision2Seq.from_pretrained( + cfg.config_file_path, + torch_dtype=torch.bfloat16, + low_cpu_mem_usage=False, + trust_remote_code=False, + local_files_only=True, + ) + + + merged_vla = PeftModel.from_pretrained(base_vla, adapter_dir) + merged_vla = merged_vla.merge_and_unload() + + if distributed_state.is_main_process: + merged_vla.save_pretrained(checkpoint_dir) + print(f"Saved merged model for Step {log_step} at: {checkpoint_dir}") + + # Wait for merged model to be saved + dist.barrier() + + + +def run_validation( + vla, + action_head, + first_frame_memory, + noisy_action_projector, + proprio_projector, + val_dataloader, + action_tokenizer, + device_id, + cfg, + num_patches, + log_step, + distributed_state, + val_time_limit, +) -> None: + """ + Compute validation set metrics for logging. + + Args: + vla (OpenVLAForActionPrediction): Vision-language-action policy. + action_head (nn.Module): Action head module. + noisy_action_projector (nn.Module): Noisy action projector module (only used for diffusion). + proprio_projector (nn.Module): Proprioceptive state projector module. + val_dataloader (DataLoader): Validation data loader. + action_tokenizer (ActionTokenizer): Action tokenizer. + device_id (str): Device ID. + cfg (FinetuneConfig): Training configuration. + num_patches (int): Number of vision patches. + log_step (int): Current logging step. + distributed_state (PartialState): Distributed training state. + val_time_limit (int): Time limit for computing validation metrics. + + Returns: + None. + """ + val_start_time = time.time() + vla.eval() + val_batches_count = 0 + + # List to store validation metrics + all_val_metrics = [] + + with torch.no_grad(): + for batch in val_dataloader: + # Always compute L1 loss for validation, even for diffusion + _, metrics = run_forward_pass( + vla=vla, + action_head=action_head, + first_frame_memory=first_frame_memory, + proprio_projector=proprio_projector, + batch=batch, + action_tokenizer=action_tokenizer, + device_id=device_id, + use_l1_regression=cfg.use_l1_regression, + use_proprio=cfg.use_proprio, + use_film=cfg.use_film, + num_patches=num_patches, + compute_diffusion_l1=True, + use_pro_version=cfg.use_pro_version + ) + + # Add the loss value to the metrics + metrics["loss"] = metrics["loss_value"] + all_val_metrics.append(metrics) + val_batches_count += 1 + + # Cut testing on validation set short if it exceeds time limit + if time.time() - val_start_time > val_time_limit: + break + + # Compute average validation metrics + avg_val_metrics = {} + for metric_name in all_val_metrics[0].keys(): + values = [metrics[metric_name] for metrics in all_val_metrics if metric_name in metrics] + if values: + avg_val_metrics[metric_name] = sum(values) / len(values) + + # Add batch count to metrics + avg_val_metrics["val_batches_count"] = val_batches_count + + # Log validation metrics to W&B + if distributed_state.is_main_process and not cfg.disable_wandb: + log_metrics_to_wandb(avg_val_metrics, "VLA Val", log_step, wandb) + + + +@draccus.wrap() +def finetune(cfg: FinetuneConfig) -> None: + """ + Fine-tunes base VLA on demonstration dataset via LoRA. + + Allows toggling different action representations (discrete vs. continuous), different learning objectives + (next-token prediction vs. L1 regression vs. diffusion), FiLM. Also allows for additional model inputs, + such as additional camera images and robot proprioceptive state. Assumes parallel action generation with + action chunking. + + Args: + cfg (FinetuneConfig): Training configuration. + + Returns: + None. + """ + + global RAW_STATE_DICT + + assert not (cfg.use_l1_regression and cfg.use_diffusion), ( + "Cannot do both L1 regression and diffusion. Please pick one of them!" + ) + + # Trim trailing forward slash ('/') in VLA path if it exists + cfg.config_file_path = cfg.config_file_path.rstrip("/") + print(f"Fine-tuning OpenVLA Model `{cfg.config_file_path}` on `{cfg.dataset_name}`") + + # Get experiment run ID + run_id = get_run_id(cfg) + + # Create experiment run directory + run_dir = cfg.run_root_dir / run_id + os.makedirs(run_dir, exist_ok=True) + + # GPU setup + distributed_state = PartialState() + device_id = distributed_state.local_process_index + torch.cuda.set_device(device_id) + torch.cuda.empty_cache() + + # Initialize wandb logging + use_wandb = distributed_state.is_main_process and not cfg.disable_wandb + if use_wandb: + wandb.init(project=cfg.wandb_project, name=f"ft+{run_id}", mode="offline") + + # Print detected constants + print( + "Detected constants:\n" + f"\tNUM_ACTIONS_CHUNK: {NUM_ACTIONS_CHUNK}\n" + f"\tACTION_DIM: {ACTION_DIM}\n" + f"\tPROPRIO_DIM: {PROPRIO_DIM}\n" + f"\tACTION_PROPRIO_NORMALIZATION_TYPE: {ACTION_PROPRIO_NORMALIZATION_TYPE}" + ) + + # UAV-Flow: override settings for the UAV dataset + using_uav_flow = cfg.dataset_name == "uav_flow" + if using_uav_flow: + cfg.use_l1_regression = True + cfg.use_proprio = True + cfg.use_minivlm = True + cfg.num_images_in_input = 2 + print("[UAV-Flow] Forcing use_l1_regression=True, use_proprio=True, use_minivlm=True") + + # Two options: + # (1) Base model is on Hugging Face Hub + # - Then download it and record the path to the download directory + # (2) Base model is stored locally + # - Then register model config in HF Auto Classes + # In both cases, we want to check whether any changes have been made to + # the `modeling_prismatic.py` file in this codebase; if so, we will copy + # the file to the downloaded or locally stored checkpoint directory so + # that the user's changes to the VLA class logic go into effect + + # Always load from local path (no HF Hub download) + AutoConfig.register("openvla", OpenVLAConfig) + AutoImageProcessor.register(OpenVLAConfig, PrismaticImageProcessor) + AutoProcessor.register(OpenVLAConfig, PrismaticProcessor) + AutoModelForVision2Seq.register(OpenVLAConfig, OpenVLAForActionPrediction) + + # Update config.json and sync model files + if distributed_state.is_main_process: + update_auto_map(cfg.config_file_path) + check_model_logic_mismatch(cfg.config_file_path) + + # Wait for model files to be synced + dist.barrier() + + # Load processor and VLA + AutoProcessor.register(OpenVLAConfig, PrismaticProcessor) + processor = AutoProcessor.from_pretrained(cfg.config_file_path, trust_remote_code=True, local_files_only=True) + + if cfg.use_minivlm: + hf_token = '' + if 'prism-qwen25-extra-dinosiglip-224px-0_5b' in cfg.vlm_path: + + vlm = load(cfg.vlm_path, hf_token=hf_token, load_for_training=True) + else: + vlm = load_vla( + cfg.vlm_path, + hf_token=hf_token, + load_for_training=True, + ) + config = AutoConfig.from_pretrained(resolve_config_dir(cfg.config_file_path), local_files_only=True) + vla = AutoModelForVision2Seq.from_config(config, torch_dtype=torch.bfloat16).to(device_id) # Create a new model with configuration, the parameters are randomly initialized + # for name, param in model.named_parameters(): + # print(f"{name}: {param.shape}") + replace_map = [ + ("vision_backbone.dino_featurizer", "vision_backbone.featurizer"), + ("vision_backbone.siglip_featurizer", "vision_backbone.fused_featurizer"), + ("llm_backbone.llm", "language_model"), + ("projector.projector.0", "projector.fc1"), + ("projector.projector.2", "projector.fc2"), + ("projector.projector.4", "projector.fc3"), + ("gamma", "scale_factor"), + ] + + def rename_state_dict_keys(state_dict, replace_map): + new_state_dict = {} + for k, v in state_dict.items(): + new_k = k + for old, new in replace_map: + if old in new_k: + new_k = new_k.replace(old, new) + new_state_dict[new_k] = v + return new_state_dict + + old_state_dict = vlm.state_dict() + RAW_STATE_DICT = rename_state_dict_keys(old_state_dict, replace_map) + + missing_keys, unexpected_keys = vla.load_state_dict(RAW_STATE_DICT, strict=False) + del old_state_dict + del vlm + + else: + RAW_STATE_DICT = None + vla = AutoModelForVision2Seq.from_pretrained( + cfg.config_file_path, + torch_dtype=torch.bfloat16, + low_cpu_mem_usage=False, + trust_remote_code=False, + local_files_only=True, + ).to(device_id) + + # Set number of images in VLA input + vla.vision_backbone.set_num_images_in_input(cfg.num_images_in_input) + + # vla.set_version(cfg.version) + + if cfg.use_lora: + if cfg.resume: + adapter_dir = Path(cfg.resum_vla_path) / "lora_adapter" + if not adapter_dir.is_dir(): + raise FileNotFoundError(f"LoRA adapter checkpoint not found: {adapter_dir}") + vla = PeftModel.from_pretrained(vla, adapter_dir, is_trainable=True) + else: + lora_config = LoraConfig( + r=cfg.lora_rank, + lora_alpha=2 * cfg.lora_rank, + lora_dropout=cfg.lora_dropout, + target_modules="all-linear", + init_lora_weights="gaussian", + ) + vla = get_peft_model(vla, lora_config) + for name, param in vla.named_parameters(): + if "action_queries" in name: + param.requires_grad = True + vla.print_trainable_parameters() + + else: + for name, param in vla.named_parameters(): + if "action_queries" in name: + param.requires_grad = True + + if cfg.resume: + action_queries = vla.get_submodule("base_model.model.action_queries" if cfg.use_lora else "action_queries") + action_queries.load_state_dict( + load_checkpoint("action_queries", cfg.resum_vla_path, cfg.resume_step) + ) + + # FiLM setup + if cfg.use_film: + count_parameters(vla.vision_backbone, "vla.vision_backbone (original)") + # Wrap vision backbone with FiLM wrapper + # Important: For this, must specify `vla.model.vision_backbone` instead of just `vla.vision_backbone`, since the + # latter would cause the new wrapped backbone to be saved as a new attribute of `vla` instead of overwriting the + # original one (due to the LoRA wrapper) + vla.model.vision_backbone = FiLMedPrismaticVisionBackbone( + vision_backbone=vla.model.vision_backbone, + llm_dim=vla.llm_dim, + ) + count_parameters(vla.vision_backbone, "vla.vision_backbone (post-wrap)") + if cfg.resume: + state_dict = load_checkpoint("vision_backbone", cfg.resum_vla_path, cfg.resume_step) + vla.model.vision_backbone.load_state_dict(state_dict) + vla.model.vision_backbone = vla.model.vision_backbone.to(device_id) + + # Wrap VLA with DDP + vla = wrap_ddp( + vla, + device_id, + find_unused=False, + static_graph=True, + ) + + # If applicable, instantiate proprio projector + if cfg.use_proprio: + proprio_projector = init_module( + ProprioProjector, + "proprio_projector", + cfg, + device_id, + {"llm_dim": vla.module.llm_dim, "proprio_dim": PROPRIO_DIM}, + to_bf16=False, + ) + + # If applicable, instantiate continuous action head for L1 regression + if cfg.use_l1_regression: + action_head = init_module( + L1RegressionActionHead, + "action_head", + cfg, + device_id, + { + "input_dim": vla.module.llm_dim, + "hidden_dim": vla.module.llm_dim, + "action_dim": ACTION_DIM, + "num_task_tokens": vla.module.vision_backbone.get_num_patches() + * vla.module.vision_backbone.get_num_images_in_input(), + "use_pro_version": cfg.use_pro_version, + }, + to_bf16=False, + ) + + first_frame_memory = None + if cfg.use_first_frame_memory: + first_frame_memory = init_module( + FirstFrameEpisodeMemory, + "first_frame_memory", + cfg, + device_id, + { + "hidden_dim": vla.module.llm_dim, + "proprio_dim": PROPRIO_DIM, + "num_memory_tokens": cfg.num_first_frame_memory_tokens, + "num_heads": cfg.first_frame_memory_heads, + }, + to_bf16=False, + find_unused_params=False, + ) + + if cfg.use_first_frame_memory and not cfg.use_proprio: + raise ValueError("首帧记忆需要初始状态；请设置 --use_proprio True") + + # Get number of vision patches + NUM_PATCHES = vla.module.vision_backbone.get_num_patches() * vla.module.vision_backbone.get_num_images_in_input() + # If we have proprio inputs, a single proprio embedding is appended to the end of the vision patch embeddings + + # Instantiate optimizer + trainable_params = [param for param in vla.parameters() if param.requires_grad] + if cfg.use_l1_regression: + trainable_params += [param for param in action_head.parameters() if param.requires_grad] + + if first_frame_memory is not None: + trainable_params += [param for param in first_frame_memory.parameters() if param.requires_grad] + + if cfg.use_proprio: + trainable_params += [param for param in proprio_projector.parameters() if param.requires_grad] + print(f"# total trainable params: {sum(p.numel() for p in trainable_params)}") + optimizer = AdamW(trainable_params, lr=cfg.learning_rate) + + # Record original learning rate + original_lr = optimizer.param_groups[0]["lr"] + + # Create learning rate scheduler + # 1. MultiStepLR + scheduler = MultiStepLR( + optimizer, + milestones=[cfg.num_steps_before_decay], # Number of steps after which LR will change + gamma=0.1, # Multiplicative factor of learning rate decay + ) + # 2. CosineAnnealingLR + # scheduler = CosineAnnealingLR( + # optimizer, + # T_max=cfg.num_steps_before_decay, + # eta_min=0.0001, + # ) + + # Create Action Tokenizer + action_tokenizer = ActionTokenizer(processor.tokenizer) + + # Load Fine-tuning Dataset =>> note that we use an RLDS-formatted dataset following Open X-Embodiment by default. + # =>> If you want to use a non-RLDS dataset (e.g., a standard PyTorch Dataset) see the following commented block. + # =>> Note that our training code does not loop over epochs because the RLDS loader does this implicitly; if using + # your own Dataset, make sure to add the appropriate logic to the training loop! + # + # --- + # from prismatic.vla.datasets import DummyDataset + # + # train_dataset = DummyDataset( + # action_tokenizer, + # processor.tokenizer, + # image_transform=processor.image_processor.apply_transform, + # prompt_builder_fn=PurePromptBuilder, + # ) + # --- + + if using_uav_flow: + # Use UAVFlowDataset (folder-based) instead of RLDS + train_dataset = UAVFlowDataset( + data_path=cfg.data_root_dir, + image_transform=processor.image_processor.apply_transform, + tokenizer=processor.tokenizer, + action_tokenizer=action_tokenizer, + prompt_builder_fn=QwenPromptBuilder, + image_aug=cfg.image_aug, + ) + if cfg.use_val_set: + val_dataset = UAVFlowDataset( + data_path=cfg.data_root_dir, + image_transform=processor.image_processor.apply_transform, + tokenizer=processor.tokenizer, + action_tokenizer=action_tokenizer, + prompt_builder_fn=QwenPromptBuilder, + image_aug=False, + ) + else: + # Lazy-import RLDS dependencies only when actually needed + from prismatic.vla.datasets import RLDSBatchTransform, RLDSDataset + + # We assume that the model takes as input one third-person camera image and 1 or 2 optional wrist camera image(s) + use_wrist_image = cfg.num_images_in_input > 1 + + # Create training and optional validation datasets + batch_transform = RLDSBatchTransform( + action_tokenizer, + processor.tokenizer, + image_transform=processor.image_processor.apply_transform, + prompt_builder_fn=PurePromptBuilder, + use_wrist_image=use_wrist_image, + use_proprio=cfg.use_proprio, + use_minivlm=cfg.use_minivlm + ) + train_dataset = RLDSDataset( + cfg.data_root_dir, + cfg.dataset_name, + batch_transform, + resize_resolution=tuple(vla.module.config.image_sizes), + shuffle_buffer_size=cfg.shuffle_buffer_size, + image_aug=cfg.image_aug, + ) + if cfg.use_val_set: + val_dataset = RLDSDataset( + cfg.data_root_dir, + cfg.dataset_name, + batch_transform, + resize_resolution=tuple(vla.module.config.image_sizes), + shuffle_buffer_size=cfg.shuffle_buffer_size // 10, + image_aug=cfg.image_aug, + train=False, + ) + + # [Important] Save dataset statistics so that we can unnormalize actions during inference + if distributed_state.is_main_process: + save_dataset_statistics(train_dataset.dataset_statistics, run_dir) + if using_uav_flow: + update_model_norm_stats(vla.module, train_dataset.dataset_statistics) + + # Create collator and dataloader + collator = PaddedCollatorForActionPrediction( + processor.tokenizer.model_max_length, processor.tokenizer.pad_token_id, padding_side="right" + ) + train_sampler = ( + DistributedSampler( + train_dataset, + num_replicas=distributed_state.num_processes, + rank=distributed_state.process_index, + shuffle=True, + ) + if using_uav_flow and distributed_state.num_processes > 1 + else None + ) + dataloader = DataLoader( + train_dataset, + batch_size=cfg.batch_size, + sampler=train_sampler, + collate_fn=collator, + num_workers=0, # Important: Set to 0 if using RLDS, which uses its own parallelism + ) + print('Len of dataloader: ', len(dataloader)) + if cfg.use_val_set: + val_batch_size = cfg.batch_size + val_dataloader = DataLoader( + val_dataset, + batch_size=val_batch_size, + sampler=None, + collate_fn=collator, + num_workers=0, # Important: Set to 0 if using RLDS, which uses its own parallelism + ) + + # Deque to store recent train metrics (used for computing smoothened metrics for gradient accumulation) + recent_metrics = { + "loss_value": deque(maxlen=cfg.grad_accumulation_steps), + "action_loss": deque(maxlen=cfg.grad_accumulation_steps), + "curr_action_accuracy": deque(maxlen=cfg.grad_accumulation_steps), + "curr_action_l1_loss": deque(maxlen=cfg.grad_accumulation_steps), + "next_actions_accuracy": deque(maxlen=cfg.grad_accumulation_steps), + "next_actions_l1_loss": deque(maxlen=cfg.grad_accumulation_steps), + "pred_action_abs_max": deque(maxlen=cfg.grad_accumulation_steps), + "pred_action_mean": deque(maxlen=cfg.grad_accumulation_steps), + "gt_action_abs_max": deque(maxlen=cfg.grad_accumulation_steps), + } + + # Start training + train_batches = repeat_dataloader(dataloader) if using_uav_flow else dataloader + with tqdm.tqdm( + total=cfg.max_steps, + leave=False, + disable=(not cfg.show_progress_bar) or (not distributed_state.is_main_process), + miniters=max(1, cfg.console_log_freq), + ) as progress: + vla.train() + optimizer.zero_grad() + for batch_idx, batch in enumerate(train_batches): + # Compute training metrics and loss + compute_diffusion_l1 = (cfg.use_l1_regression and batch_idx % cfg.diffusion_sample_freq == 0) or (cfg.use_diffusion and batch_idx % cfg.diffusion_sample_freq == 0) + loss, metrics = run_forward_pass( + vla=vla, + action_head=action_head, + first_frame_memory=first_frame_memory, + proprio_projector=proprio_projector if cfg.use_proprio else None, + batch=batch, + action_tokenizer=action_tokenizer, + device_id=device_id, + use_l1_regression=cfg.use_l1_regression, + use_proprio=cfg.use_proprio, + use_film=cfg.use_film, + num_patches=NUM_PATCHES, + compute_diffusion_l1=compute_diffusion_l1, + use_pro_version=cfg.use_pro_version, + cfg=cfg, + ) + + # Keep the zero-based index for scheduler logic, but use the number of + # completed optimizer steps for logging, checkpointing, and stopping. + # In particular, the final update must be named max_steps (not + # max_steps - 1). + gradient_step_idx = batch_idx // cfg.grad_accumulation_steps + completed_steps = (batch_idx + 1) // cfg.grad_accumulation_steps + log_step = completed_steps if not cfg.resume else cfg.resume_step + completed_steps + + if not torch.isfinite(loss): + bad_metrics = {name: value for name, value in metrics.items() if not torch.isfinite(torch.tensor(value))} + raise FloatingPointError( + f"Non-finite loss at batch_idx={batch_idx}, log_step={log_step}: " + f"loss={loss.detach().float().item()}, metrics={bad_metrics}" + ) + + # Normalize loss to account for gradient accumulation + normalized_loss = loss / cfg.grad_accumulation_steps + + # Backward pass + normalized_loss.backward() + + # Store recent train metrics + for metric_name, value in metrics.items(): + if metric_name in recent_metrics: + recent_metrics[metric_name].append(value) + + # Compute smoothened train metrics + smoothened_metrics = compute_smoothened_metrics(recent_metrics) + + # Push Metrics to W&B (every wandb_log_freq gradient steps) + if use_wandb and log_step % cfg.wandb_log_freq == 0: + log_metrics_to_wandb(smoothened_metrics, "VLA Train", log_step, wandb) + + # [If applicable] Linearly warm up learning rate from 10% to 100% of original + if cfg.lr_warmup_steps > 0 and gradient_step_idx < cfg.lr_warmup_steps: + lr_progress = min((gradient_step_idx + 1) / cfg.lr_warmup_steps, 1.0) # Cap at 1.0 + current_lr = original_lr * (0.1 + 0.9 * lr_progress) + for param_group in optimizer.param_groups: + param_group["lr"] = current_lr + + if use_wandb and gradient_step_idx % cfg.wandb_log_freq == 0: + # Log the learning rate + # Make sure to do this AFTER any learning rate modifications (e.g., warmup/decay) + wandb.log( + { + "VLA Train/Learning Rate": scheduler.get_last_lr()[0], + "VLA Train/Actual Learning Rate": optimizer.param_groups[0]["lr"], + }, + step=log_step, + ) + + # Optimizer and LR scheduler step + did_optimizer_step = (batch_idx + 1) % cfg.grad_accumulation_steps == 0 + if did_optimizer_step: + if cfg.max_grad_norm and cfg.max_grad_norm > 0: + should_log_console = ( + distributed_state.is_main_process + and log_step > 0 + and log_step % cfg.console_log_freq == 0 + ) + if should_log_console: + vla_grad_norm = compute_grad_norm(p for p in vla.parameters() if p.requires_grad) + action_head_grad_norm = ( + compute_grad_norm(action_head.parameters()) + if cfg.use_l1_regression and action_head is not None + else 0.0 + ) + proprio_grad_norm = ( + compute_grad_norm(proprio_projector.parameters()) + if cfg.use_proprio and proprio_projector is not None + else 0.0 + ) + grad_norm = torch.nn.utils.clip_grad_norm_( + trainable_params, + max_norm=cfg.max_grad_norm, + error_if_nonfinite=True, + ) + if should_log_console: + print( + f"step {log_step}: " + f"grad_norm={float(grad_norm):.5f}, " + f"vla_grad={vla_grad_norm:.5f}, " + f"action_head_grad={action_head_grad_norm:.5f}, " + f"proprio_grad={proprio_grad_norm:.5f}" + ) + optimizer.step() + scheduler.step() + optimizer.zero_grad() + progress.update() + + if distributed_state.is_main_process and did_optimizer_step and log_step > 0 and log_step % cfg.console_log_freq == 0: + mem = get_process_memory_mb(device_id) + print( + f"step {log_step}: " + f"loss={smoothened_metrics.get('loss_value', float('nan')):.5f}, " + f"curr_l1={smoothened_metrics.get('curr_action_l1_loss', float('nan')):.5f}, " + f"next_l1={smoothened_metrics.get('next_actions_l1_loss', float('nan')):.5f}, " + f"lr={optimizer.param_groups[0]['lr']:.8f}, " + f"gpu_alloc_mb={mem['gpu_alloc_mb']:.1f}" + ) + + # Save model checkpoint: either keep latest checkpoint only or all checkpoints + if did_optimizer_step and gradient_step_idx > 0 and log_step % cfg.save_freq == 0: + save_training_checkpoint( + cfg=cfg, + run_dir=run_dir, + log_step=log_step, + vla=vla, + processor=processor, + proprio_projector=proprio_projector if cfg.use_proprio else None, + noisy_action_projector=None, + action_head=action_head, + first_frame_memory=first_frame_memory, + train_dataset=train_dataset, + distributed_state=distributed_state, + new_state_dict=RAW_STATE_DICT, + ) + + # Test model on validation set + if did_optimizer_step and cfg.use_val_set and log_step > 0 and log_step % cfg.val_freq == 0: + run_validation( + vla=vla, + action_head=action_head, + first_frame_memory=first_frame_memory, + noisy_action_projector=None, + proprio_projector=proprio_projector if cfg.use_proprio else None, + val_dataloader=val_dataloader, + action_tokenizer=action_tokenizer, + device_id=device_id, + cfg=cfg, + num_patches=NUM_PATCHES, + log_step=log_step, + distributed_state=distributed_state, + val_time_limit=cfg.val_time_limit, + ) + # Set model back to training mode after validation + vla.train() + + # Stop every rank using rank-independent step accounting. Non-main + # ranks have a disabled tqdm instance, so progress.n cannot be used + # as a distributed stopping condition. + if did_optimizer_step and completed_steps >= cfg.max_steps: + if distributed_state.is_main_process: + print(f"Max step {log_step} reached! Stopping training...") + break + + # Ensure every rank leaves the training loop before tearing down NCCL. + if dist.is_available() and dist.is_initialized(): + dist.barrier() + dist.destroy_process_group() + + +if __name__ == "__main__": + finetune() diff --git a/VLA-Adapter-UAV/vla-scripts/finetune_uav.sh b/VLA-Adapter-UAV/vla-scripts/finetune_uav.sh new file mode 100644 index 0000000000000000000000000000000000000000..d3d13753e9bf643acda4c79d960e0d34bae3ca24 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/finetune_uav.sh @@ -0,0 +1,134 @@ +#!/bin/bash +# ============================================================================= +# VLA-Adapter-UAV Fine-tuning Launch Script +# +# Fine-tunes VLA-Adapter (Qwen2.5-0.5B + DINO+SigLIP) on the UAV-Flow dataset. +# +# Usage: +# bash vla-scripts/finetune_uav.sh +# +# Prerequisites: +# 1. Pretrained model at: pretrained_models/prism-qwen25-extra-dinosiglip-224px-0_5b/ +# 2. Model configs at: pretrained_models/configs/ +# 3. UAV-Flow data at: datasets/ (one subdirectory per episode) +# ============================================================================= + +set -euo pipefail + +# ---- GPU configuration ---- +export CUDA_VISIBLE_DEVICES=${CUDA_VISIBLE_DEVICES:-1,2,3,4} + +# ---- Paths ---- +PROJECT_ROOT=${PROJECT_ROOT:-$(pwd)} +VLM_PATH=${VLM_PATH:-"${PROJECT_ROOT}/pretrained_models/prism-qwen25-extra-dinosiglip-224px-0_5b"} +CONFIG_PATH=${CONFIG_PATH:-"${PROJECT_ROOT}/pretrained_models/configs"} +DATA_ROOT=${DATA_ROOT:-"/data1_hdd/wjing/datasets/UAV-Flow-Sim"} +RUN_ROOT=${RUN_ROOT:-"${PROJECT_ROOT}/run"} +LOG_ROOT=${LOG_ROOT:-"${PROJECT_ROOT}/logs"} +mkdir -p "${LOG_ROOT}" +export LOCAL_TIMM_PATH=${LOCAL_TIMM_PATH:-"${PROJECT_ROOT}/pretrained_models/timm"} + +# ---- Training hyperparameters ---- +NUM_GPUS=${NUM_GPUS:-4} # Number of GPUs to use (4x RTX 4090) +BATCH_SIZE=${BATCH_SIZE:-8} # Per-GPU batch size +GRAD_ACCUM=${GRAD_ACCUM:-1} # Gradient accumulation steps (effective batch = 4*8*1 = 32) +LEARNING_RATE=${LR:-5e-5} # Learning rate +LR_WARMUP_STEPS=${LR_WARMUP_STEPS:-1000} # Linear warmup steps +TOTAL_STEPS=${TOTAL_STEPS:-200000} # Desired final global step +SAVE_FREQ=${SAVE_FREQ:-10000} # Checkpoint save frequency +CONSOLE_LOG_FREQ=${CONSOLE_LOG_FREQ:-50} # Console metrics logging frequency +SHOW_PROGRESS_BAR=${SHOW_PROGRESS_BAR:-True} # Set True to show tqdm progress bar +LORA_RANK=${LORA_RANK:-32} # LoRA rank +MAX_GRAD_NORM=${MAX_GRAD_NORM:-1.0} # Gradient clipping threshold; set <=0 to disable +WANDB_PROJECT=${WANDB_PROJECT:-vla-adapter-uav} +WANDB_ENTITY=${WANDB_ENTITY:-wujng4295} +WANDB_LOG_FREQ=${WANDB_LOG_FREQ:-10000} +DISABLE_WANDB=${DISABLE_WANDB:-True} + +# ---- Resume configuration ---- +# Example: +# RESUME=true RESUME_STEP=190000 \ +# RESUME_CHECKPOINT=/path/to/run--190000_chkpt \ +# bash vla-scripts/finetune_uav.sh +RESUME=${RESUME:-false} +RESUME_STEP=${RESUME_STEP:-0} +RESUME_CHECKPOINT=${RESUME_CHECKPOINT:-} +RESUME_ARGS=() + +if [[ "${RESUME,,}" == "true" ]]; then + if [[ -z "${RESUME_CHECKPOINT}" ]]; then + echo "ERROR: RESUME_CHECKPOINT must be set when RESUME=true." >&2 + exit 2 + fi + if [[ ! -d "${RESUME_CHECKPOINT}" ]]; then + echo "ERROR: Checkpoint directory not found: ${RESUME_CHECKPOINT}" >&2 + exit 2 + fi + if [[ ! -d "${RESUME_CHECKPOINT}/lora_adapter" ]]; then + echo "ERROR: LoRA adapter directory not found: ${RESUME_CHECKPOINT}/lora_adapter" >&2 + exit 2 + fi + if (( RESUME_STEP >= TOTAL_STEPS )); then + echo "ERROR: RESUME_STEP (${RESUME_STEP}) must be smaller than TOTAL_STEPS (${TOTAL_STEPS})." >&2 + exit 2 + fi + + MAX_STEPS=${MAX_STEPS:-$((TOTAL_STEPS - RESUME_STEP))} + RESUME_ARGS=( + --resume True + --resume_step "${RESUME_STEP}" + --resum_vla_path "${RESUME_CHECKPOINT}" + ) +else + MAX_STEPS=${MAX_STEPS:-${TOTAL_STEPS}} +fi + +# ---- Runtime hygiene ---- +export OMP_NUM_THREADS=${OMP_NUM_THREADS:-1} +export TOKENIZERS_PARALLELISM=${TOKENIZERS_PARALLELISM:-false} +export TF_CPP_MIN_LOG_LEVEL=${TF_CPP_MIN_LOG_LEVEL:-2} +export PYTHONUNBUFFERED=${PYTHONUNBUFFERED:-1} +export MALLOC_ARENA_MAX=${MALLOC_ARENA_MAX:-2} +export PYTORCH_CUDA_ALLOC_CONF=${PYTORCH_CUDA_ALLOC_CONF:-expandable_segments:True} +if [[ "${DISABLE_WANDB}" == "True" || "${DISABLE_WANDB}" == "true" || "${DISABLE_WANDB}" == "1" ]]; then + export WANDB_MODE=disabled +fi + +RUN_TAG=${RUN_TAG:-"uav_flow_chunk4_b${BATCH_SIZE}_ga${GRAD_ACCUM}_lr${LEARNING_RATE}_$(date +%Y%m%d_%H%M%S)"} +LOG_FILE="${LOG_ROOT}/${RUN_TAG}.log" + +echo "Logging to: ${LOG_FILE}" +echo "Effective batch size: $((NUM_GPUS * BATCH_SIZE * GRAD_ACCUM))" +echo "Resume: ${RESUME}" +if [[ "${RESUME,,}" == "true" ]]; then + echo "Resume checkpoint: ${RESUME_CHECKPOINT}" + echo "Resume step: ${RESUME_STEP}; steps this run: ${MAX_STEPS}; target step: ${TOTAL_STEPS}" +fi + +torchrun --standalone --nnodes 1 --nproc-per-node ${NUM_GPUS} \ + vla-scripts/finetune.py \ + --config_file_path "${CONFIG_PATH}" \ + --vlm_path "${VLM_PATH}" \ + --data_root_dir "${DATA_ROOT}" \ + --dataset_name uav_flow \ + --run_root_dir "${RUN_ROOT}" \ + --batch_size ${BATCH_SIZE} \ + --grad_accumulation_steps ${GRAD_ACCUM} \ + --learning_rate ${LEARNING_RATE} \ + --lr_warmup_steps ${LR_WARMUP_STEPS} \ + --max_grad_norm ${MAX_GRAD_NORM} \ + --max_steps ${MAX_STEPS} \ + --save_freq ${SAVE_FREQ} \ + --console_log_freq ${CONSOLE_LOG_FREQ} \ + --show_progress_bar ${SHOW_PROGRESS_BAR} \ + --image_aug True \ + --use_lora True \ + --lora_rank ${LORA_RANK} \ + --lora_dropout 0.0 \ + --use_pro_version True \ + --wandb_project "${WANDB_PROJECT}" \ + --wandb_entity "${WANDB_ENTITY}" \ + --wandb_log_freq ${WANDB_LOG_FREQ} \ + --disable_wandb ${DISABLE_WANDB} \ + "${RESUME_ARGS[@]}" \ + 2>&1 | tee "${LOG_FILE}" diff --git a/VLA-Adapter-UAV/vla-scripts/merge_lora_weights_and_save.py b/VLA-Adapter-UAV/vla-scripts/merge_lora_weights_and_save.py new file mode 100644 index 0000000000000000000000000000000000000000..cc17eb6bab498cfdc13c28b09c75e0af98d706b5 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/merge_lora_weights_and_save.py @@ -0,0 +1,109 @@ + +""" +Loads a checkpoint that only has a LoRA adapter (no merged model) and merges the adapter +into the base VLA-Adapter model. Saves the final checkpoint in the same directory. + +Usage: + python vla-scripts/merge_lora_weights_and_save.py \ + --base_checkpoint openvla/openvla-7b \ + --lora_finetuned_checkpoint_dir /PATH/TO/CHECKPOINT/DIR/ +""" + +import os +import time +from dataclasses import dataclass +from pathlib import Path +from typing import Union + +import draccus +import torch +from peft import PeftModel +from transformers import AutoConfig, AutoImageProcessor, AutoModelForVision2Seq, AutoProcessor + +from prismatic.extern.hf.configuration_prismatic import OpenVLAConfig +from prismatic.extern.hf.modeling_prismatic import OpenVLAForActionPrediction +from prismatic.extern.hf.processing_prismatic import PrismaticImageProcessor, PrismaticProcessor +from prismatic.models import load, load_vla + + + +@dataclass +class ConvertConfig: + # fmt: off + + base_checkpoint: Union[str, Path] = "" # Base model checkpoint path/dir (either openvla/openvla-7b or whichever model you fine-tuned / resumed training from) + lora_finetuned_checkpoint_dir: Union[str, Path] = "" # Checkpoint directory containing the LoRA adapter + vlm_path: Union[str, Path] = "" + use_minivla: bool = False # + + + # fmt: on + + +@draccus.wrap() +def main(cfg: ConvertConfig) -> None: + # Register OpenVLA model to HF Auto Classes (not needed if the model is on HF Hub) + AutoConfig.register("openvla", OpenVLAConfig) + AutoImageProcessor.register(OpenVLAConfig, PrismaticImageProcessor) + AutoProcessor.register(OpenVLAConfig, PrismaticProcessor) + AutoModelForVision2Seq.register(OpenVLAConfig, OpenVLAForActionPrediction) + + if cfg.use_minivla: + hf_token = '' + vlm = load_vla( + cfg.vlm_path, + hf_token=hf_token, + load_for_training=True, + ) + config = AutoConfig.from_pretrained("../pretrained_models/configs/config.json") + vla = AutoModelForVision2Seq.from_config(config, torch_dtype=torch.bfloat16) + # for name, param in model.named_parameters(): + # print(f"{name}: {param.shape}") + replace_map = [ + ("vision_backbone.dino_featurizer", "vision_backbone.featurizer"), + ("vision_backbone.siglip_featurizer", "vision_backbone.fused_featurizer"), + ("llm_backbone.llm", "language_model"), + ("projector.projector.0", "projector.fc1"), + ("projector.projector.2", "projector.fc2"), + ("projector.projector.4", "projector.fc3"), + ("gamma", "scale_factor"), + ] + + def rename_state_dict_keys(state_dict, replace_map): + new_state_dict = {} + for k, v in state_dict.items(): + new_k = k + for old, new in replace_map: + if old in new_k: + new_k = new_k.replace(old, new) + new_state_dict[new_k] = v + return new_state_dict + + old_state_dict = vlm.state_dict() + RAW_STATE_DICT = rename_state_dict_keys(old_state_dict, replace_map) + + missing_keys, unexpected_keys = vla.load_state_dict(RAW_STATE_DICT, strict=False) + else: + # Load Model using HF AutoClasses + print(f"Loading base model: {cfg.base_checkpoint}") + vla = AutoModelForVision2Seq.from_pretrained( + cfg.base_checkpoint, + torch_dtype=torch.bfloat16, + low_cpu_mem_usage=True, + trust_remote_code=True, + ) + + # Load LoRA weights and merge into base model, then save final checkpoint + print("Merging LoRA weights into base model...") + start_time = time.time() + merged_vla = PeftModel.from_pretrained(vla, os.path.join(cfg.lora_finetuned_checkpoint_dir, "lora_adapter")).to( + "cuda" + ) + merged_vla = merged_vla.merge_and_unload() + merged_vla.save_pretrained(cfg.lora_finetuned_checkpoint_dir) + print(f"\nMerging complete! Time elapsed (sec): {time.time() - start_time}") + print(f"\nSaved merged model checkpoint at:\n{cfg.lora_finetuned_checkpoint_dir}") + + +if __name__ == "__main__": + main() diff --git a/VLA-Adapter-UAV/vla-scripts/train.py b/VLA-Adapter-UAV/vla-scripts/train.py new file mode 100644 index 0000000000000000000000000000000000000000..5c38038d05acf4392d0c53e875a29b6015c3bf1e --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/train.py @@ -0,0 +1,263 @@ +""" +train.py + +Training script for Vision-Language-Action (VLA) Policies, built on top of pretrained VLMs, trained using mixtures of +the Open-X Embodiment dataset. Performs training in native PyTorch, using Fully-Sharded Data Parallel (FSDP) to run +distributed across GPUs (and nodes). By default, assumes that CUDA toolkit is >= 11.0 (to support BF16 mixed precision). + +Notes & Prerequisites: + - If you want to set a custom location for all HF / TIMM artifacts --> `export HF_HOME=""` *before* running! + => For example (add to end of .bashrc): `export HF_HOME="/mnt/fsx/skaramcheti/cache"` + - If you want to suppress random Tensorflow logs --> `export TF_CPP_MIN_LOG_LEVEL=3` + +Run with: + - [Single Node One-GPU (Debug)] : torchrun --standalone --nnodes 1 --nproc-per-node 1 vla-scripts/train.py + - [Single Node Multi-GPU (= $K)]: torchrun --standalone --nnodes 1 --nproc-per-node $K vla-scripts/train.py +""" + +import json +import os +import re +from dataclasses import dataclass, field +from pathlib import Path +from typing import Optional, Tuple, Union + +import draccus +import torch +import torch.distributed as dist +import yaml + +from prismatic.conf import VLAConfig, VLARegistry +from prismatic.models import load, load_vla +from prismatic.overwatch import initialize_overwatch +from prismatic.training import VLAMetrics, get_train_strategy +from prismatic.util import set_global_seed +from prismatic.vla import get_vla_dataset_and_collator +from prismatic.vla.datasets.rlds.utils.data_utils import save_dataset_statistics + +# Sane Defaults +os.environ["TOKENIZERS_PARALLELISM"] = "false" + + +# Initialize Overwatch =>> Wraps `logging.Logger` +overwatch = initialize_overwatch(__name__) + + +@dataclass +class TrainConfig: + # fmt: off + + # VLAConfig (`prismatic/conf/vla.py`); override with --vla.type `VLARegistry..vla_id` + vla: VLAConfig = field( + default_factory=VLAConfig.get_choice_class(VLARegistry.DINOSIGLIP_224PX_MX_OXE_MAGIC_SOUP_PLUS.vla_id) + ) + + # Directory Paths + data_root_dir: Path = Path( # Path to Open-X dataset directory + "datasets/open-x-embodiment" + ) + run_root_dir: Path = Path("runs") # Path to directory to store logs & checkpoints + + # Resume Run Parameters + pretrained_checkpoint: Optional[Path] = None # Absolute Path to Checkpoint + is_resume: bool = True # Whether we are continuing a prior training run + # (only applicable given pretrained checkpoint) + resume_step: Optional[int] = None # Global Step to Resume (should match checkpoint) + resume_epoch: Optional[int] = None # Epoch to Resume (should match checkpoint) + + # Run Arguments + run_id: Optional[str] = None # Run ID for logging, Weights & Biases + run_id_note: Optional[str] = None # Extra note for logging, Weights & Biases + save_interval: int = 2500 # Interval for saving checkpoints (in steps) + image_aug: bool = False # Whether to enable image augmentations + seed: int = 7 # Random seed (for reproducibility) + + # HF Hub Credentials (for any gated models) + hf_token: Union[str, Path] = Path(".hf_token") # Environment variable or Path to HF Token + + # Tracking Parameters + trackers: Tuple[str, ...] = ("jsonl", "wandb") # Trackers to initialize (if W&B, add config!) + wandb_project: str = "openvla" # Name of W&B project to log to (use default!) + wandb_entity: str = "stanford-voltron" # Name of entity to log under + + def __post_init__(self) -> None: + """Lift optimization parameters from `self.vla` for ease of use =>> validate on `expected_world_size`""" + self.epochs = self.vla.epochs + self.max_steps = self.vla.max_steps + self.global_batch_size = self.vla.global_batch_size + self.per_device_batch_size = self.vla.per_device_batch_size + + self.learning_rate = self.vla.learning_rate + self.weight_decay = self.vla.weight_decay + self.max_grad_norm = self.vla.max_grad_norm + self.lr_scheduler_type = self.vla.lr_scheduler_type + self.warmup_ratio = self.vla.warmup_ratio + + self.train_strategy = self.vla.train_strategy + + # [Validate] Assert on `expected_world_size` + assert ( + self.vla.expected_world_size == overwatch.world_size() + ), f"Expected World Size = {self.vla.expected_world_size} but Found {overwatch.world_size()} GPUs!" + + # fmt: on + + +@draccus.wrap() +def train(cfg: TrainConfig) -> None: + overwatch.info("OpenVLA Training :: Warming Up") + + # Note => Under `torchrun` initializing `overwatch` will automatically set up `torch.distributed` + torch.cuda.set_device(device_id := overwatch.local_rank()) + torch.cuda.empty_cache() + + # Configure Unique Run Name & Save Directory + vla_id = cfg.vla.vla_id + cfg.run_id = ( + f"{vla_id}+n{cfg.vla.expected_world_size // 8}+b{cfg.per_device_batch_size}+x{cfg.seed}" + if cfg.run_id is None + else cfg.run_id + ) + if cfg.run_id_note is not None: + cfg.run_id += f"--{cfg.run_id_note}" + if cfg.image_aug: + cfg.run_id += "--image_aug" + + # Start =>> Build Directories and Set Randomness + overwatch.info('"Do or do not; there is no try."', ctx_level=1) + hf_token = cfg.hf_token.read_text().strip() if isinstance(cfg.hf_token, Path) else os.environ[cfg.hf_token] + worker_init_fn = set_global_seed(cfg.seed, get_worker_init_fn=True) + os.makedirs(run_dir := (cfg.run_root_dir / cfg.run_id), exist_ok=True) + os.makedirs(cfg.run_root_dir / cfg.run_id / "checkpoints", exist_ok=True) + + # Save Configuration =>> additionally save a JSON version for later HF Integration + if overwatch.is_rank_zero(): + draccus.dump(cfg, open(run_dir / "config.yaml", "w")) + with open(run_dir / "config.yaml", "r") as f_yaml, open(run_dir / "config.json", "w") as f_json: + yaml_cfg = yaml.safe_load(f_yaml) + json.dump(yaml_cfg, f_json, indent=2) + + # Load VLA checkpoint (if resuming from training) or Base VLM otherwise (from `cfg.vla.base_vlm` ID or Path) + # =>> Note :: Verifies that all parameters are loaded in FP32 on load! + overwatch.info(f"Loading Base VLM `{cfg.vla.base_vlm}` from ID/Path") + if cfg.pretrained_checkpoint is not None: + # [Validate] Pretrained Checkpoint `step` and `epoch` should match `resume_step` and `resume_epoch` + # =>> Note :: We make developers pass in `resume_*` arguments as an extra sanity check! + if cfg.is_resume: + assert int(re.search("step-(.+?)-", cfg.pretrained_checkpoint.name).group(1)) == cfg.resume_step + assert int(re.search("epoch-(.+?)-", cfg.pretrained_checkpoint.name).group(1)) == cfg.resume_epoch + + vlm = load_vla(cfg.pretrained_checkpoint, hf_token=hf_token, load_for_training=True) + + else: + vlm = load(cfg.vla.base_vlm, hf_token=hf_token, load_for_training=True) + + # [Validate] Model should be in Full Precision! + for param in vlm.parameters(): + assert param.dtype == torch.float32, f"Loaded VLM parameter not in full precision: {param}" + + # Determine training "stage" based on frozen vs unfrozen parameters --> supports different fine-tuning schemes! + if not cfg.vla.freeze_vision_backbone and not cfg.vla.freeze_llm_backbone: + stage = "vla-full-train" # Full fine-tuning + elif cfg.vla.freeze_vision_backbone and not cfg.vla.freeze_llm_backbone: + stage = "vla-train" # Frozen vision encoder + elif not cfg.vla.freeze_vision_backbone and cfg.vla.freeze_llm_backbone: + assert cfg.vla.unfreeze_last_llm_layer, "You should unfreeze at least the last layer of your LLM!" + stage = "vla-sandwich-train" # Fine-tuning vision encoder, projector, and LLM last layer + elif cfg.vla.freeze_vision_backbone and cfg.vla.freeze_llm_backbone: + assert cfg.vla.unfreeze_last_llm_layer, "Need to unfreeze at least last LLM layer to train!" + stage = "vla-last-layer-train" # Fine-tuning LLM last layer only + else: + raise ValueError( + "Weight freezing configuration not supported. VLA config has the following parameters: " + f"freeze_vision_backbone: {cfg.vla.freeze_vision_backbone}" + f"freeze_llm_backbone: {cfg.vla.freeze_llm_backbone}" + f"unfreeze_last_llm_layer: {cfg.vla.unfreeze_last_llm_layer}" + ) + + # [Explicit] Call to `freeze_backbones` here for clarity =>> will log exactly what is/is not frozen + overwatch.info(f"Invoking `VLM.freeze_backbones()` for `{vla_id}` => Stage: `{stage}`") + vlm.freeze_backbones(stage) + + # Print number of total/trainable model parameters + num_params = sum(p.numel() for p in vlm.parameters()) + num_trainable_params = sum(p.numel() for p in vlm.parameters() if p.requires_grad) + overwatch.info( + f"# Parameters (in millions): {num_params / 10**6:.3f} Total, {num_trainable_params / 10**6:.3f} Trainable" + ) + + # Get VLA Dataset & Collator + overwatch.info(f"Creating VLA Open-X Dataset with Mixture `{cfg.vla.data_mix}`") + vla_dataset, action_tokenizer, collator = get_vla_dataset_and_collator( + cfg.data_root_dir, + cfg.vla.data_mix, + image_transform=vlm.vision_backbone.get_image_transform(), + tokenizer=vlm.llm_backbone.get_tokenizer(), + prompt_builder_fn=vlm.llm_backbone.prompt_builder_fn, + default_image_resolution=vlm.vision_backbone.default_image_resolution, + shuffle_buffer_size=cfg.vla.shuffle_buffer_size, + image_aug=cfg.image_aug, + ) + + # Save dataset statistics for de-normalization at inference time + if overwatch.is_rank_zero(): + save_dataset_statistics(vla_dataset.dataset_statistics, run_dir) + + # Create Train Strategy + overwatch.info(f"Initializing Train Strategy `{cfg.train_strategy}`") + train_strategy = get_train_strategy( + train_strategy=cfg.train_strategy, + vlm=vlm, + device_id=device_id, + stage=stage, + epochs=cfg.epochs, + max_steps=cfg.max_steps, + global_batch_size=cfg.global_batch_size, + per_device_batch_size=cfg.per_device_batch_size, + learning_rate=cfg.learning_rate, + weight_decay=cfg.weight_decay, + max_grad_norm=cfg.max_grad_norm, + lr_scheduler_type=cfg.lr_scheduler_type, + warmup_ratio=cfg.warmup_ratio, + enable_gradient_checkpointing=cfg.vla.enable_gradient_checkpointing, + enable_mixed_precision_training=cfg.vla.enable_mixed_precision_training, + reduce_in_full_precision=cfg.vla.reduce_in_full_precision, + worker_init_fn=worker_init_fn, + ) + train_strategy.run_setup(run_dir=run_dir, n_train_examples=len(vla_dataset)) + + # Create Metrics =>> Handles on the fly tracking, logging to specified trackers (e.g., JSONL, Weights & Biases) + overwatch.info(f"Creating Metrics with Active Trackers => `{cfg.trackers}`") + metrics = VLAMetrics( + cfg.trackers, + cfg.run_id, + run_dir, + draccus.encode(cfg), + wandb_project=cfg.wandb_project, + wandb_entity=cfg.wandb_entity, + resume_step=cfg.resume_step, + resume_epoch=cfg.resume_epoch, + ) + + # Run VLA Training + overwatch.info("Starting VLA Training Loop") + train_strategy.run_vla_training( + vla_dataset, + collator, + action_tokenizer, + metrics, + save_interval=cfg.save_interval, + ) + + # Finalize + overwatch.info("Done with Training =>> Finalizing Metrics") + metrics.finalize() + + # And... we're done! + overwatch.info("... and that's all, folks!") + dist.barrier() + dist.destroy_process_group() + + +if __name__ == "__main__": + train() diff --git a/VLA-Adapter-UAV/vla-scripts/train.sh b/VLA-Adapter-UAV/vla-scripts/train.sh new file mode 100644 index 0000000000000000000000000000000000000000..98004f9da11950f0cdc211ddb04a7abbe657e909 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/train.sh @@ -0,0 +1,25 @@ +CKPT=/data1_hdd/wjing/VLA-Adapter-UAV/runs/configs+uav_flow+b8+lr-5e-05+lora-r32+dropout-0.0--image_aug--10000_chkpt +CONFIG=/data1_hdd/wjing/VLA-Adapter-UAV/pretrained_models/configs + +torchrun --standalone --nnodes 1 --nproc-per-node 4 \ + vla-scripts/finetune.py \ + --config_file_path "$CONFIG" \ + --resum_vla_path "$CKPT" \ + --resume True \ + --resume_step 10000 \ + --vlm_path /data1_hdd/wjing/VLA-Adapter-UAV/pretrained_models/prism-qwen25-extra-dinosiglip-224px-0_5b \ + --data_root_dir /data1_hdd/wjing/datasets/UAV-Flow-Sim \ + --dataset_name uav_flow \ + --run_root_dir /data1_hdd/wjing/VLA-Adapter-UAV/runs \ + --batch_size 8 \ + --grad_accumulation_steps 1 \ + --learning_rate 5e-5 \ + --lr_warmup_steps 0 \ + --max_steps 40000 \ + --save_freq 5000 \ + --console_log_freq 1000 \ + --image_aug True \ + --use_lora True \ + --lora_rank 32 \ + --lora_dropout 0.0 \ + --use_pro_version True \ No newline at end of file diff --git a/VLA-Adapter-UAV/vla-scripts/train_first_frame_memory_sft.sh b/VLA-Adapter-UAV/vla-scripts/train_first_frame_memory_sft.sh new file mode 100644 index 0000000000000000000000000000000000000000..99370b6e255639628226b34aa6055f4c238f929f --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/train_first_frame_memory_sft.sh @@ -0,0 +1,27 @@ +#!/usr/bin/env bash +set -euo pipefail + +PROJECT_ROOT=${PROJECT_ROOT:-$(cd "$(dirname "$0")/.." && pwd)} +DATA_ROOT=${DATA_ROOT:-/data1_hdd/wjing/datasets/UAV-Flow-Sim} +VLM_PATH=${VLM_PATH:-"$PROJECT_ROOT/pretrained_models/prism-qwen25-extra-dinosiglip-224px-0_5b"} +CONFIG_PATH=${CONFIG_PATH:-"$PROJECT_ROOT/pretrained_models/configs"} +RUN_ROOT=${RUN_ROOT:-"$PROJECT_ROOT/runs"} +LOG_ROOT=${LOG_ROOT:-"$PROJECT_ROOT/logs/dual_image_vla"} +GPU_IDS=${GPU_IDS:-0,1,2,3} +IFS=',' read -r -a GPU_ARRAY <<< "$GPU_IDS" +export CUDA_VISIBLE_DEVICES="$GPU_IDS" +export PYTHONUNBUFFERED=1 +mkdir -p "$LOG_ROOT" +export LOCAL_TIMM_PATH=${LOCAL_TIMM_PATH:-"${PROJECT_ROOT}/pretrained_models/timm"} +RUN_NAME=${RUN_NAME:-"dual_image_vla_sft_$(date +%Y%m%d_%H%M%S)"} +LOG_FILE="$LOG_ROOT/$RUN_NAME.log" +export LOCAL_TIMM_PATH=${LOCAL_TIMM_PATH:-"${PROJECT_ROOT}/pretrained_models/timm"} +torchrun --standalone --nproc-per-node="${#GPU_ARRAY[@]}" "$PROJECT_ROOT/vla-scripts/finetune.py" \ + --config_file_path "$CONFIG_PATH" --vlm_path "$VLM_PATH" \ + --data_root_dir "$DATA_ROOT" --dataset_name uav_flow --run_root_dir "$RUN_ROOT" --run_id_override "$RUN_NAME" \ + --use_l1_regression True --use_proprio True --use_lora True --lora_rank 32 --lora_dropout 0.0 \ + --batch_size 4 --learning_rate 5e-5 --max_steps 200000 \ + --num_first_frame_memory_tokens 8 --first_frame_memory_heads 8 \ + --save_freq 50000 --console_log_freq 1000 --show_progress_bar True \ + --image_aug True --disable_wandb True \ + 2>&1 | tee "$LOG_FILE" diff --git a/VLA-Adapter-UAV/vla-scripts/train_flight_cot_stage1.sh b/VLA-Adapter-UAV/vla-scripts/train_flight_cot_stage1.sh new file mode 100644 index 0000000000000000000000000000000000000000..717dfd93b4a94d64c5db5643a83c61e509996e50 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/train_flight_cot_stage1.sh @@ -0,0 +1,33 @@ +#!/usr/bin/env bash +set -euo pipefail + +PROJECT_ROOT=${PROJECT_ROOT:-$(cd "$(dirname "$0")/.." && pwd)} +DATA_ROOT=${DATA_ROOT:-/data1_hdd/wjing/datasets/UAV-Flow-Sim} +COT_PATH=${COT_PATH:-/data1_hdd/wjing/cot/UAV_CoT.jsonl} +VLM_PATH=${VLM_PATH:-"$PROJECT_ROOT/pretrained_models/prism-qwen25-extra-dinosiglip-224px-0_5b"} +CONFIG_PATH=${CONFIG_PATH:-"$PROJECT_ROOT/pretrained_models/configs"} +RUN_ROOT=${RUN_ROOT:-"$PROJECT_ROOT/runs"} +LOG_ROOT=${LOG_ROOT:-"$PROJECT_ROOT/logs/flight_cot"} +CONSOLE_LOG_FREQ=${CONSOLE_LOG_FREQ:-500} +SHOW_PROGRESS_BAR=${SHOW_PROGRESS_BAR:-True} + +GPU_IDS=${GPU_IDS:-0,1,2,3} +IFS=',' read -r -a GPU_ARRAY <<< "$GPU_IDS" +NUM_GPUS=${NUM_GPUS:-${#GPU_ARRAY[@]}} +export CUDA_VISIBLE_DEVICES="$GPU_IDS" +export PYTHONUNBUFFERED=1 +mkdir -p "$LOG_ROOT" +RUN_NAME=${RUN_NAME:-"flight_cot_stage1_$(date +%Y%m%d_%H%M%S)"} +RUN_TAG=${RUN_TAG:-"$RUN_NAME"} +LOG_FILE="$LOG_ROOT/$RUN_TAG.log" +echo "Logging to: $LOG_FILE" +echo "GPUs: $GPU_IDS" + +torchrun --standalone --nproc-per-node="$NUM_GPUS" "$PROJECT_ROOT/vla-scripts/finetune.py" \ + --config_file_path "$CONFIG_PATH" --vlm_path "$VLM_PATH" \ + --data_root_dir "$DATA_ROOT" --dataset_name uav_flow --run_root_dir "$RUN_ROOT" --run_id_override "$RUN_NAME" \ + --training_stage plan_warmup --use_flight_plan_decoder True --use_l1_regression True --use_proprio True \ + --flight_cot_labels_path "$COT_PATH" --batch_size 4 --learning_rate 2e-4 --max_steps 20000 \ + --save_freq 5000 --console_log_freq "$CONSOLE_LOG_FREQ" --show_progress_bar "$SHOW_PROGRESS_BAR" \ + --image_aug True --disable_wandb True \ + 2>&1 | tee "$LOG_FILE" diff --git a/VLA-Adapter-UAV/vla-scripts/train_flight_cot_stage2.sh b/VLA-Adapter-UAV/vla-scripts/train_flight_cot_stage2.sh new file mode 100644 index 0000000000000000000000000000000000000000..063eec0a49c2adb0ad74c4a34c5699b2d1092dc4 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/train_flight_cot_stage2.sh @@ -0,0 +1,40 @@ +#!/usr/bin/env bash +set -euo pipefail + +PROJECT_ROOT=${PROJECT_ROOT:-$(cd "$(dirname "$0")/.." && pwd)} +DATA_ROOT=${DATA_ROOT:-/data1_hdd/wjing/datasets/UAV-Flow-Sim} +COT_PATH=${COT_PATH:-/data1_hdd/wjing/cot/UAV_CoT.jsonl} +PHASE1_PATH=${PHASE1_PATH:-/data1_hdd/wjing/VLA-Adapter-UAV/runs/flight_cot_stage1_20260728_185726--20000_chkpt} +VLM_PATH=${VLM_PATH:-"$PROJECT_ROOT/pretrained_models/prism-qwen25-extra-dinosiglip-224px-0_5b"} +CONFIG_PATH=${CONFIG_PATH:-"$PROJECT_ROOT/pretrained_models/configs"} +RUN_ROOT=${RUN_ROOT:-"$PROJECT_ROOT/runs"} +LOG_ROOT=${LOG_ROOT:-"$PROJECT_ROOT/logs/flight_cot"} +CONSOLE_LOG_FREQ=${CONSOLE_LOG_FREQ:-500} +SHOW_PROGRESS_BAR=${SHOW_PROGRESS_BAR:-True} +USE_LORA=${USE_LORA:-True} +LORA_RANK=${LORA_RANK:-32} +LORA_DROPOUT=${LORA_DROPOUT:-0.0} +export LOCAL_TIMM_PATH=${LOCAL_TIMM_PATH:-"${PROJECT_ROOT}/pretrained_models/timm"} +GPU_IDS=${GPU_IDS:-0,1,2,3} +IFS=',' read -r -a GPU_ARRAY <<< "$GPU_IDS" +NUM_GPUS=${NUM_GPUS:-${#GPU_ARRAY[@]}} +export CUDA_VISIBLE_DEVICES="$GPU_IDS" +export PYTHONUNBUFFERED=1 +mkdir -p "$LOG_ROOT" +RUN_NAME=${RUN_NAME:-"flight_cot_stage2_$(date +%Y%m%d_%H%M%S)"} +RUN_TAG=${RUN_TAG:-"$RUN_NAME"} +LOG_FILE="$LOG_ROOT/$RUN_TAG.log" +echo "Logging to: $LOG_FILE" +echo "GPUs: $GPU_IDS" + +torchrun --standalone --nproc-per-node="$NUM_GPUS" "$PROJECT_ROOT/vla-scripts/finetune.py" \ + --config_file_path "$CONFIG_PATH" --vlm_path "$VLM_PATH" \ + --data_root_dir "$DATA_ROOT" --dataset_name uav_flow --run_root_dir "$RUN_ROOT" --run_id_override "$RUN_NAME" \ + --training_stage joint_sft --phase1_path "$PHASE1_PATH" \ + --use_flight_plan_decoder True --use_l1_regression True --use_proprio True \ + --use_lora "$USE_LORA" --lora_rank "$LORA_RANK" --lora_dropout "$LORA_DROPOUT" \ + --flight_cot_labels_path "$COT_PATH" --batch_size 4 --learning_rate 5e-5 --max_steps 200000 \ + --cot_loss_weight 0.2 --cot_labeled_episodes_only True --num_first_frame_memory_tokens 8 --first_frame_memory_heads 8 \ + --save_freq 50000 --console_log_freq "$CONSOLE_LOG_FREQ" --show_progress_bar "$SHOW_PROGRESS_BAR" \ + --image_aug True --disable_wandb True \ + 2>&1 | tee "$LOG_FILE" diff --git a/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/PKG-INFO b/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/PKG-INFO new file mode 100644 index 0000000000000000000000000000000000000000..7ad4e9b721cd1271721916b5d602c349b2cd0f29 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/PKG-INFO @@ -0,0 +1,181 @@ +Metadata-Version: 2.4 +Name: openvla-oft +Version: 0.0.1 +Summary: Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success +Author-email: Moo Jin Kim , Chelsea Finn , Percy Liang +License: MIT License + + Copyright (c) 2025 Moo Jin Kim, Chelsea Finn, Percy Liang. + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all + copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. + +Project-URL: homepage, https://github.com/moojink/openvla-oft +Project-URL: repository, https://github.com/moojink/openvla-oft +Project-URL: documentation, https://github.com/moojink/openvla-oft +Keywords: vision-language-actions models,fine-tuning,robot learning +Classifier: Development Status :: 3 - Alpha +Classifier: Intended Audience :: Developers +Classifier: Intended Audience :: Education +Classifier: Intended Audience :: Science/Research +Classifier: License :: OSI Approved :: MIT License +Classifier: Operating System :: OS Independent +Classifier: Programming Language :: Python :: 3 +Classifier: Programming Language :: Python :: 3.8 +Classifier: Programming Language :: Python :: 3.9 +Classifier: Programming Language :: Python :: 3.10 +Classifier: Programming Language :: Python :: 3 :: Only +Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence +Requires-Python: >=3.8 +Description-Content-Type: text/markdown +License-File: LICENSE +Requires-Dist: accelerate>=0.25.0 +Requires-Dist: draccus==0.8.0 +Requires-Dist: einops +Requires-Dist: huggingface_hub +Requires-Dist: json-numpy +Requires-Dist: jsonlines +Requires-Dist: matplotlib +Requires-Dist: peft==0.11.1 +Requires-Dist: protobuf +Requires-Dist: rich +Requires-Dist: sentencepiece==0.1.99 +Requires-Dist: timm==0.9.10 +Requires-Dist: tokenizers==0.19.1 +Requires-Dist: torch==2.2.0 +Requires-Dist: torchvision==0.17.0 +Requires-Dist: torchaudio==2.2.0 +Requires-Dist: transformers@ git+https://github.com/moojink/transformers-openvla-oft.git +Requires-Dist: wandb +Requires-Dist: tensorflow==2.15.0 +Requires-Dist: tensorflow_datasets==4.9.3 +Requires-Dist: tensorflow_graphics==2021.12.3 +Requires-Dist: dlimp@ git+https://github.com/moojink/dlimp_openvla +Requires-Dist: diffusers +Requires-Dist: imageio +Requires-Dist: uvicorn +Requires-Dist: fastapi +Requires-Dist: json-numpy +Provides-Extra: dev +Requires-Dist: black>=24.2.0; extra == "dev" +Requires-Dist: gpustat; extra == "dev" +Requires-Dist: ipython; extra == "dev" +Requires-Dist: pre-commit; extra == "dev" +Requires-Dist: ruff>=0.2.2; extra == "dev" +Provides-Extra: sagemaker +Requires-Dist: boto3; extra == "sagemaker" +Requires-Dist: sagemaker; extra == "sagemaker" +Dynamic: license-file + +# Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success + +**Project website: https://openvla-oft.github.io/** + +**Paper: https://arxiv.org/abs/2502.19645** + +**Summary video: https://youtu.be/T3Zkkr_NTSA** + +## System Requirements + +Inference: +* 1 GPU with ~16 GB VRAM for LIBERO sim benchmark tasks +* 1 GPU with ~18 GB VRAM for ALOHA robot tasks + +Training: +* Between 1-8 GPUs with 27-80 GB, depending on the desired training setup (with default bfloat16 data type). See [this FAQ on our project website](https://openvla-oft.github.io/#train-compute) for details. + +## Quick Start + +First, set up a conda environment (see instructions in [SETUP.md](SETUP.md)). + +Then, run the Python script below to download a pretrained OpenVLA-OFT checkpoint and run inference to generate an action chunk: + +```python +import pickle +from experiments.robot.libero.run_libero_eval import GenerateConfig +from experiments.robot.openvla_utils import get_action_head, get_processor, get_proprio_projector, get_vla, get_vla_action +from prismatic.vla.constants import NUM_ACTIONS_CHUNK, PROPRIO_DIM + +# Instantiate config (see class GenerateConfig in experiments/robot/libero/run_libero_eval.py for definitions) +cfg = GenerateConfig( + pretrained_checkpoint = "moojink/openvla-7b-oft-finetuned-libero-spatial", + use_l1_regression = True, + use_diffusion = False, + use_film = False, + num_images_in_input = 2, + use_proprio = True, + load_in_8bit = False, + load_in_4bit = False, + center_crop = True, + num_open_loop_steps = NUM_ACTIONS_CHUNK, + unnorm_key = "libero_spatial_no_noops", +) + +# Load OpenVLA-OFT policy and inputs processor +vla = get_vla(cfg) +processor = get_processor(cfg) + +# Load MLP action head to generate continuous actions (via L1 regression) +action_head = get_action_head(cfg, llm_dim=vla.llm_dim) + +# Load proprio projector to map proprio to language embedding space +proprio_projector = get_proprio_projector(cfg, llm_dim=vla.llm_dim, proprio_dim=PROPRIO_DIM) + +# Load sample observation: +# observation (dict): { +# "full_image": primary third-person image, +# "wrist_image": wrist-mounted camera image, +# "state": robot proprioceptive state, +# "task_description": task description, +# } +with open("experiments/robot/libero/sample_libero_spatial_observation.pkl", "rb") as file: + observation = pickle.load(file) + +# Generate robot action chunk (sequence of future actions) +actions = get_vla_action(cfg, vla, processor, observation, observation["task_description"], action_head, proprio_projector) +print("Generated action chunk:") +for act in actions: + print(act) +``` + +## Installation + +See [SETUP.md](SETUP.md) for instructions on setting up the conda environment. + +## Training and Evaluation + +See [LIBERO.md](LIBERO.md) for fine-tuning/evaluating on LIBERO simulation benchmark task suites. + +See [ALOHA.md](ALOHA.md) for fine-tuning/evaluating on real-world ALOHA robot tasks. + +## Support + +If you run into any issues, please open a new GitHub issue. If you do not receive a response within 2 business days, please email Moo Jin Kim (moojink@cs.stanford.edu) to bring the issue to his attention. + +## Citation + +If you use our code in your work, please cite [our paper](https://arxiv.org/abs/2502.19645): + +```bibtex +@article{kim2025fine, + title={Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success}, + author={Kim, Moo Jin and Finn, Chelsea and Liang, Percy}, + journal={arXiv preprint arXiv:2502.19645}, + year={2025} +} +``` diff --git a/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/SOURCES.txt b/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/SOURCES.txt new file mode 100644 index 0000000000000000000000000000000000000000..7ed48a4217b712e28ed9637842fcbb9af63447fd --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/SOURCES.txt @@ -0,0 +1,118 @@ +LICENSE +README.md +pyproject.toml +experiments/robot/openvla_utils.py +experiments/robot/robot_utils.py +experiments/robot/aloha/aloha_utils.py +experiments/robot/aloha/constants.py +experiments/robot/aloha/preprocess_split_aloha_data.py +experiments/robot/aloha/real_env.py +experiments/robot/aloha/robot_utils.py +experiments/robot/aloha/run_aloha_eval.py +experiments/robot/bridge/bridgev2_utils.py +experiments/robot/bridge/run_bridgev2_eval.py +experiments/robot/bridge/widowx_env.py +experiments/robot/libero/libero_utils.py +experiments/robot/libero/regenerate_libero_dataset.py +experiments/robot/libero/run_libero_eval.py +openvla_oft.egg-info/PKG-INFO +openvla_oft.egg-info/SOURCES.txt +openvla_oft.egg-info/dependency_links.txt +openvla_oft.egg-info/requires.txt +openvla_oft.egg-info/top_level.txt +prismatic/__init__.py +prismatic/py.typed +prismatic/conf/__init__.py +prismatic/conf/datasets.py +prismatic/conf/models.py +prismatic/conf/vla.py +prismatic/extern/__init__.py +prismatic/extern/hf/__init__.py +prismatic/extern/hf/configuration_prismatic.py +prismatic/extern/hf/modeling_prismatic.py +prismatic/extern/hf/processing_prismatic.py +prismatic/models/__init__.py +prismatic/models/action_heads.py +prismatic/models/film_vit_wrapper.py +prismatic/models/load.py +prismatic/models/materialize.py +prismatic/models/projectors.py +prismatic/models/registry.py +prismatic/models/backbones/__init__.py +prismatic/models/backbones/llm/__init__.py +prismatic/models/backbones/llm/base_llm.py +prismatic/models/backbones/llm/llama2.py +prismatic/models/backbones/llm/mistral.py +prismatic/models/backbones/llm/phi.py +prismatic/models/backbones/llm/prompting/__init__.py +prismatic/models/backbones/llm/prompting/base_prompter.py +prismatic/models/backbones/llm/prompting/llama2_chat_prompter.py +prismatic/models/backbones/llm/prompting/mistral_instruct_prompter.py +prismatic/models/backbones/llm/prompting/phi_prompter.py +prismatic/models/backbones/llm/prompting/vicuna_v15_prompter.py +prismatic/models/backbones/vision/__init__.py +prismatic/models/backbones/vision/base_vision.py +prismatic/models/backbones/vision/clip_vit.py +prismatic/models/backbones/vision/dinoclip_vit.py +prismatic/models/backbones/vision/dinosiglip_vit.py +prismatic/models/backbones/vision/dinov2_vit.py +prismatic/models/backbones/vision/in1k_vit.py +prismatic/models/backbones/vision/siglip_vit.py +prismatic/models/vlas/__init__.py +prismatic/models/vlas/openvla.py +prismatic/models/vlms/__init__.py +prismatic/models/vlms/base_vlm.py +prismatic/models/vlms/prismatic.py +prismatic/overwatch/__init__.py +prismatic/overwatch/overwatch.py +prismatic/preprocessing/__init__.py +prismatic/preprocessing/download.py +prismatic/preprocessing/materialize.py +prismatic/preprocessing/datasets/__init__.py +prismatic/preprocessing/datasets/datasets.py +prismatic/training/__init__.py +prismatic/training/materialize.py +prismatic/training/metrics.py +prismatic/training/train_utils.py +prismatic/training/strategies/__init__.py +prismatic/training/strategies/base_strategy.py +prismatic/training/strategies/ddp.py +prismatic/training/strategies/fsdp.py +prismatic/util/__init__.py +prismatic/util/batching_utils.py +prismatic/util/data_utils.py +prismatic/util/nn_utils.py +prismatic/util/torch_utils.py +prismatic/vla/__init__.py +prismatic/vla/action_tokenizer.py +prismatic/vla/constants.py +prismatic/vla/materialize.py +prismatic/vla/datasets/__init__.py +prismatic/vla/datasets/datasets.py +prismatic/vla/datasets/rlds/__init__.py +prismatic/vla/datasets/rlds/dataset.py +prismatic/vla/datasets/rlds/obs_transforms.py +prismatic/vla/datasets/rlds/traj_transforms.py +prismatic/vla/datasets/rlds/oxe/__init__.py +prismatic/vla/datasets/rlds/oxe/configs.py +prismatic/vla/datasets/rlds/oxe/materialize.py +prismatic/vla/datasets/rlds/oxe/mixtures.py +prismatic/vla/datasets/rlds/oxe/transforms.py +prismatic/vla/datasets/rlds/oxe/utils/droid_utils.py +prismatic/vla/datasets/rlds/utils/__init__.py +prismatic/vla/datasets/rlds/utils/data_utils.py +prismatic/vla/datasets/rlds/utils/goal_relabeling.py +prismatic/vla/datasets/rlds/utils/task_augmentation.py +scripts/generate.py +scripts/preprocess.py +scripts/pretrain.py +scripts/additional-datasets/lrv_instruct.py +scripts/additional-datasets/lvis_instruct_4v.py +scripts/extern/convert_prismatic_weights_to_hf.py +scripts/extern/verify_prismatic.py +vla-scripts/deploy.py +vla-scripts/finetune.py +vla-scripts/merge_lora_weights_and_save.py +vla-scripts/train.py +vla-scripts/extern/convert_openvla_weights_to_hf.py +vla-scripts/extern/verify_openvla.py \ No newline at end of file diff --git a/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/dependency_links.txt b/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/dependency_links.txt new file mode 100644 index 0000000000000000000000000000000000000000..8b137891791fe96927ad78e64b0aad7bded08bdc --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/requires.txt b/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/requires.txt new file mode 100644 index 0000000000000000000000000000000000000000..1dd95a16bbfddb5fd543b5015d762fa6624674dc --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/requires.txt @@ -0,0 +1,38 @@ +accelerate>=0.25.0 +draccus==0.8.0 +einops +huggingface_hub +json-numpy +jsonlines +matplotlib +peft==0.11.1 +protobuf +rich +sentencepiece==0.1.99 +timm==0.9.10 +tokenizers==0.19.1 +torch==2.2.0 +torchvision==0.17.0 +torchaudio==2.2.0 +transformers@ git+https://github.com/moojink/transformers-openvla-oft.git +wandb +tensorflow==2.15.0 +tensorflow_datasets==4.9.3 +tensorflow_graphics==2021.12.3 +dlimp@ git+https://github.com/moojink/dlimp_openvla +diffusers +imageio +uvicorn +fastapi +json-numpy + +[dev] +black>=24.2.0 +gpustat +ipython +pre-commit +ruff>=0.2.2 + +[sagemaker] +boto3 +sagemaker diff --git a/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/top_level.txt b/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/top_level.txt new file mode 100644 index 0000000000000000000000000000000000000000..16a23a4e78aa583faafd8115a6a827c00ed9b5e5 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/vla_adapter.egg-info/top_level.txt @@ -0,0 +1,4 @@ +experiments +prismatic +scripts +vla-scripts diff --git a/VLA-Adapter-UAV/vla-scripts/vla_adapter_uav_act.py b/VLA-Adapter-UAV/vla-scripts/vla_adapter_uav_act.py new file mode 100644 index 0000000000000000000000000000000000000000..a8237112be7b5d6df4ad32ab69d533c021bf1c24 --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/vla_adapter_uav_act.py @@ -0,0 +1,440 @@ +"""Flask inference server for VLA-Adapter-UAV checkpoints. + +Loads a fine-tuned VLA-Adapter-UAV model (minivlm base + LoRA adapter + action_head ++ proprio_projector) and serves action predictions via HTTP, compatible with the +UAV-Flow-Eval client (``batch_run_act_all.py``). + +Usage:: + + python vla-scripts/vla_adapter_uav_act.py \\ + --checkpoint_path runs/my-run \\ + --vlm_path pretrained_models/prism-qwen25-extra-dinosiglip-224px-0_5b \\ + --base_config_path pretrained_models/configs \\ + --http_port 5007 +""" + +import base64 +import json +import logging +import os +import sys +import time +from dataclasses import dataclass +from io import BytesIO +from pathlib import Path +from typing import Optional + +import draccus +import numpy as np +import torch +from flask import Flask, jsonify, request +from peft import PeftModel +from PIL import Image +from transformers import AutoConfig, AutoImageProcessor, AutoModelForVision2Seq, AutoProcessor + +PROJECT_ROOT = Path(__file__).resolve().parents[1] +if str(PROJECT_ROOT) not in sys.path: + sys.path.insert(0, str(PROJECT_ROOT)) + +from prismatic.extern.hf.configuration_prismatic import OpenVLAConfig +from prismatic.extern.hf.modeling_prismatic import OpenVLAForActionPrediction +from prismatic.extern.hf.processing_prismatic import PrismaticImageProcessor, PrismaticProcessor +from prismatic.models.action_heads import L1RegressionActionHead +from prismatic.models.first_frame_memory import FirstFrameEpisodeMemory +from prismatic.models.backbones.llm.prompting import QwenPromptBuilder +from prismatic.models.projectors import ProprioProjector + +logger = logging.getLogger(__name__) + + +# --------------------------------------------------------------------------- +# Configuration +# --------------------------------------------------------------------------- + +@dataclass +class UAVServerConfig: + checkpoint_path: str = "" # Path to the fine-tuned checkpoint directory + vlm_path: str = "pretrained_models/prism-qwen25-extra-dinosiglip-224px-0_5b" # Path to pretrained minivlm + base_config_path: str = "pretrained_models/configs" # Path to config.json and tokenizer files + gpu_id: int = 0 + http_port: int = 5007 + unnorm_key: str = "uav" # Key in norm_stats for action un-normalization + use_pro_version: bool = True # Use MLPResNetBlock_Pro in action head + use_first_frame_memory: bool = False + num_first_frame_memory_tokens: int = 8 + center_crop: bool = False + + +# --------------------------------------------------------------------------- +# Utilities +# --------------------------------------------------------------------------- + +def _load_component_state_dict(path: Path) -> dict: + """Load a PyTorch checkpoint and strip DDP ``module.`` prefix if present.""" + state_dict = torch.load(path, map_location="cpu", weights_only=True) + return {key[7:] if key.startswith("module.") else key: value for key, value in state_dict.items()} + + +def _maybe_load_action_queries(model: OpenVLAForActionPrediction, checkpoint_path: Path) -> None: + """Restore trainable action query embeddings when present in the checkpoint.""" + try: + action_queries_path = _find_checkpoint_file(checkpoint_path, "action_queries") + except FileNotFoundError: + logger.warning("No action_queries checkpoint found in %s; using base initialization.", checkpoint_path) + return + + model.action_queries.load_state_dict(_load_component_state_dict(action_queries_path)) + logger.info("Loaded action query embeddings from %s", action_queries_path) + + +def _find_checkpoint_file(checkpoint_path: Path, component_name: str) -> Path: + """Locate the latest checkpoint file for a named component.""" + matches = sorted( + [p for p in checkpoint_path.iterdir() if component_name in p.name and "checkpoint" in p.name], + key=os.path.getmtime, + reverse=True, + ) + if not matches: + matches = sorted( + [p for p in checkpoint_path.iterdir() if component_name in p.name and "latest" in p.name.lower()], + key=os.path.getmtime, + reverse=True, + ) + if not matches: + raise FileNotFoundError(f"No '{component_name}' checkpoint found in {checkpoint_path}") + return matches[0] + + +def _load_dataset_statistics(checkpoint_path: Path) -> dict: + """Load ``dataset_statistics.json`` from a checkpoint directory.""" + stats_path = checkpoint_path / "dataset_statistics.json" + if not stats_path.exists(): + raise FileNotFoundError(f"Missing dataset statistics: {stats_path}") + with open(stats_path, "r", encoding="utf-8") as f: + return json.load(f) + + +def _normalize_bounds(values: np.ndarray, stats: dict) -> np.ndarray: + """Normalize values to [-1, 1] using q01/q99 from dataset statistics.""" + low = np.asarray(stats["q01"], dtype=np.float32) + high = np.asarray(stats["q99"], dtype=np.float32) + mask = np.asarray(stats.get("mask", np.ones_like(low, dtype=bool)), dtype=bool) + result = np.where(mask, 2 * (values - low) / (high - low + 1e-8) - 1, values) + return np.clip(result, -1.0, 1.0).astype(np.float32) + + +def _rename_minivlm_state_dict_keys(state_dict: dict) -> dict: + """Remap PrismaticVLM state_dict keys to HF ``OpenVLAForActionPrediction`` keys.""" + replace_map = [ + ("vision_backbone.dino_featurizer", "vision_backbone.featurizer"), + ("vision_backbone.siglip_featurizer", "vision_backbone.fused_featurizer"), + ("llm_backbone.llm", "language_model"), + ("projector.projector.0", "projector.fc1"), + ("projector.projector.2", "projector.fc2"), + ("projector.projector.4", "projector.fc3"), + ("gamma", "scale_factor"), + ] + renamed = {} + for key, value in state_dict.items(): + new_key = key + for old, new in replace_map: + if old in new_key: + new_key = new_key.replace(old, new) + renamed[new_key] = value + return renamed + + +# --------------------------------------------------------------------------- +# Agent +# --------------------------------------------------------------------------- + +class VLAAdapterUAVActionAgent: + """Loads a VLA-Adapter-UAV checkpoint and serves action predictions.""" + + def __init__(self, cfg: UAVServerConfig) -> None: + self.cfg = cfg + self.device = torch.device(f"cuda:{cfg.gpu_id}" if torch.cuda.is_available() else "cpu") + self.checkpoint_path = Path(cfg.checkpoint_path) + + # Determine whether a LoRA adapter subdirectory exists + self.adapter_path: Optional[Path] = self.checkpoint_path / "lora_adapter" + if not self.adapter_path.exists(): + self.adapter_path = None + + self.model_path = Path(cfg.base_config_path) if self.adapter_path is not None else self.checkpoint_path + self.processor_path = ( + self.checkpoint_path if (self.checkpoint_path / "processor_config.json").exists() else self.model_path + ) + + # Register HF auto classes + AutoConfig.register("openvla", OpenVLAConfig) + AutoImageProcessor.register(OpenVLAConfig, PrismaticImageProcessor) + AutoProcessor.register(OpenVLAConfig, PrismaticProcessor) + AutoModelForVision2Seq.register(OpenVLAConfig, OpenVLAForActionPrediction) + + # ------- Load processor ------- + logger.info("Loading processor from %s", self.processor_path) + self.processor = AutoProcessor.from_pretrained(str(self.processor_path), trust_remote_code=True, local_files_only=True) + + # ------- Load VLA model ------- + logger.info("Loading VLA model from %s", self.model_path) + if self.adapter_path is not None: + model = self._load_minivlm_base(str(self.model_path)) + else: + model = AutoModelForVision2Seq.from_pretrained( + str(self.model_path), + torch_dtype=torch.bfloat16, + low_cpu_mem_usage=False, + trust_remote_code=False, + local_files_only=True, + ).to(self.device) + + # Merge LoRA adapter if present + if self.adapter_path is not None: + logger.info("Loading and merging LoRA adapter from %s", self.adapter_path) + model = PeftModel.from_pretrained(model, str(self.adapter_path)) + model = model.merge_and_unload() + + _maybe_load_action_queries(model, self.checkpoint_path) + + self.model = model.to(self.device) + self.model.eval() + self.model.vision_backbone.set_num_images_in_input(1) + + # Load normalization statistics + self.model.norm_stats = _load_dataset_statistics(self.checkpoint_path) + + # ------- Load proprio projector ------- + self.proprio_projector = ProprioProjector(self.model.llm_dim, proprio_dim=4) + self.proprio_projector.load_state_dict( + _load_component_state_dict(_find_checkpoint_file(self.checkpoint_path, "proprio_projector")) + ) + # 训练脚本以 to_bf16=False 创建这些附加模块；推理保持 FP32，避免 + # 避免训练和推理的动作头数值路径发生不必要的 dtype 偏移。 + self.proprio_projector = self.proprio_projector.to(self.device) + self.proprio_projector.eval() + + # ------- Load action head ------- + self.action_head = L1RegressionActionHead( + input_dim=self.model.llm_dim, + hidden_dim=self.model.llm_dim, + action_dim=4, + use_pro_version=cfg.use_pro_version, + ) + self.action_head.load_state_dict( + _load_component_state_dict(_find_checkpoint_file(self.checkpoint_path, "action_head")) + ) + self.action_head = self.action_head.to(self.device) + self.action_head.eval() + self.model.vision_backbone.set_num_images_in_input(2) + + self.first_frame_memory = None + if cfg.use_first_frame_memory: + self.first_frame_memory = FirstFrameEpisodeMemory( + hidden_dim=self.model.llm_dim, + proprio_dim=4, + num_memory_tokens=cfg.num_first_frame_memory_tokens, + ) + self.first_frame_memory.load_state_dict( + _load_component_state_dict(_find_checkpoint_file(self.checkpoint_path, "first_frame_memory--")) + ) + self.first_frame_memory = self.first_frame_memory.to(self.device) + self.first_frame_memory.eval() + + self._reset_episode_memory() + + # ------- Setup Flask ------- + self.app = Flask(__name__) + self._setup_routes() + + # ------------------------------------------------------------------ + # Model loading helpers + # ------------------------------------------------------------------ + + def _load_minivlm_base(self, config_path: str) -> OpenVLAForActionPrediction: + """Load the pretrained minivlm weights into a fresh HF model via key remapping.""" + from prismatic.models.load import load + + vlm = load(self.cfg.vlm_path, hf_token="", load_for_training=True) + config = AutoConfig.from_pretrained(config_path, local_files_only=True) + model = AutoModelForVision2Seq.from_config(config, torch_dtype=torch.bfloat16) + state_dict = _rename_minivlm_state_dict_keys(vlm.state_dict()) + model.load_state_dict(state_dict, strict=False) + del vlm + return model.to(self.device) + + # ------------------------------------------------------------------ + # Flask routes + # ------------------------------------------------------------------ + + def _setup_routes(self) -> None: + @self.app.route("/predict", methods=["POST"]) + def predict(): + try: + data = request.json + img_bytes = base64.b64decode(data["image"]) + image = Image.open(BytesIO(img_bytes)).convert("RGB") + instruction = data["instr"] + proprio = np.asarray(data["proprio"], dtype=np.float32) + + start_time = time.time() + is_first_frame = self._cached_first_pixel_values is None + actions_local = self.act(image, proprio, instruction) + actions = self._local_deltas_to_eval_poses(actions_local, proprio) + logger.info("Inference time: %.3fs", time.time() - start_time) + + return jsonify( + { + "status": "success", + "action": actions.tolist(), + "action_ori": actions_local.tolist(), + "episode_memory_initialized": is_first_frame, + "message": "Action generated successfully", + } + ) + except Exception as exc: + import traceback + traceback.print_exc() + return jsonify({"status": "error", "message": str(exc) + traceback.format_exc()}), 500 + + @self.app.route("/reset", methods=["POST"]) + def reset(): + self._reset_episode_memory() + return jsonify({"status": "success"}) + + # ------------------------------------------------------------------ + # Prompt building + # ------------------------------------------------------------------ + + def _build_prompt(self, proprio: np.ndarray, instruction: str) -> str: + """Build the current-frame prompt exactly as used during UAV-Flow training.""" + proprio_text = ",".join(str(round(float(x), 1)) for x in proprio) + prompt_builder = QwenPromptBuilder("openvla") + prompt_builder.add_turn( + "human", f"Current State: {proprio_text}, What action should the uav take to {instruction.lower()}?" + ) + prompt_builder.add_turn("gpt", "") + return prompt_builder.get_prompt() + + def _reset_episode_memory(self) -> None: + """清除缓存的首帧记忆；每个新 episode 开始时调用一次。""" + self._cached_first_pixel_values = None + self._cached_initial_proprio = None + + def _prepare_inputs(self, prompt: str, image: Image.Image): + """Tokenize an inference prompt and remove the empty assistant suffix as in training.""" + inputs = self.processor(prompt, image).to(self.device, dtype=torch.bfloat16) + # Dataset construction removes ``' <|im_end|>\\n'`` (three Qwen tokens) + # before appending action placeholders / feeding the first-frame branch. + if inputs["input_ids"].shape[1] >= 3: + inputs["input_ids"] = inputs["input_ids"][:, :-3] + inputs["attention_mask"] = inputs["attention_mask"][:, :-3] + return inputs + + def _initialize_episode_memory(self, image: Image.Image, initial_proprio: np.ndarray, instruction: str) -> None: + """仅在 episode 首帧构建并缓存记忆。""" + # 首帧记忆只使用视觉输入，不需要经过语言模型的提示词编码。 + first_inputs = self.processor("", image).to(self.device, dtype=torch.bfloat16) + initial_stats = self.model.norm_stats[self.cfg.unnorm_key]["proprio"] + normalized_initial_proprio = _normalize_bounds(initial_proprio, initial_stats) + self._cached_first_pixel_values = first_inputs["pixel_values"].detach() + self._cached_initial_proprio = normalized_initial_proprio + logger.info("Initialized and cached first-frame inputs.") + + # ------------------------------------------------------------------ + # Inference + # ------------------------------------------------------------------ + + def act( + self, + image: Image.Image, + proprio: np.ndarray, + instruction: str, + ) -> np.ndarray: + """Run inference and return the predicted action chunk in local body frames. + + Args: + image: PIL RGB image (will be resized by the processor). + proprio: Raw proprioceptive state ``[x, y, z, yaw_degrees]``. + instruction: Natural language task instruction. + + Returns: + ``np.ndarray`` of shape ``(NUM_ACTIONS_CHUNK, 4)`` with local + ``[dx, dy, dz, dyaw]`` actions. ``dyaw`` is in radians. + """ + if self._cached_first_pixel_values is None: + self._initialize_episode_memory(image, proprio, instruction) + + prompt = self._build_prompt(proprio, instruction) + inputs = self._prepare_inputs(prompt, image) + + # Normalize proprio using dataset statistics + proprio_stats = self.model.norm_stats[self.cfg.unnorm_key]["proprio"] + normalized_proprio = _normalize_bounds(proprio, proprio_stats) + inputs["pixel_values"] = torch.cat((self._cached_first_pixel_values, inputs["pixel_values"]), dim=1) + + with torch.inference_mode(): + actions, _ = self.model.predict_action( + **inputs, + unnorm_key=self.cfg.unnorm_key, + proprio=np.stack((self._cached_initial_proprio, normalized_proprio)).astype(np.float32), + proprio_projector=self.proprio_projector, + action_head=self.action_head, + episode_memory_hidden_states=None, + use_film=False, + ) + return np.asarray(actions, dtype=np.float32) + + # ------------------------------------------------------------------ + # Coordinate transform for evaluation + # ------------------------------------------------------------------ + + @staticmethod + def _local_deltas_to_eval_poses(actions_local: np.ndarray, proprio: np.ndarray) -> np.ndarray: + """Convert body-frame delta actions to poses expected by UAV-Flow-Eval. + + UAV-Flow-Eval consumes a list of poses in the initial-frame coordinate + system. Model outputs are local deltas, so each predicted step is + integrated before the next delta is applied. + """ + actions_local = np.asarray(actions_local, dtype=np.float32) + current_pos = np.asarray(proprio[:3], dtype=np.float32).copy() + current_yaw = np.deg2rad(float(proprio[-1])) + poses = [] + + for action_local in actions_local: + cos_yaw = np.cos(current_yaw) + sin_yaw = np.sin(current_yaw) + rotation = np.asarray( + [[cos_yaw, -sin_yaw, 0.0], [sin_yaw, cos_yaw, 0.0], [0.0, 0.0, 1.0]], + dtype=np.float32, + ) + + current_pos = current_pos + rotation @ action_local[:3] + current_yaw = current_yaw + float(action_local[3]) + poses.append([current_pos[0], current_pos[1], current_pos[2], current_yaw]) + + return np.asarray(poses, dtype=np.float32) + + # ------------------------------------------------------------------ + # Run server + # ------------------------------------------------------------------ + + def run(self) -> None: + logger.info("Starting VLA-Adapter-UAV server on port %s", self.cfg.http_port) + self.app.run(host="0.0.0.0", port=self.cfg.http_port) + + +# --------------------------------------------------------------------------- +# Entry point +# --------------------------------------------------------------------------- + +@draccus.wrap() +def main(cfg: UAVServerConfig) -> None: + logging.basicConfig(level=logging.INFO, format="%(asctime)s - %(name)s - %(levelname)s - %(message)s") + os.environ["TOKENIZERS_PARALLELISM"] = "false" + VLAAdapterUAVActionAgent(cfg).run() + + +if __name__ == "__main__": + main() diff --git a/VLA-Adapter-UAV/vla-scripts/vla_evaluation.py b/VLA-Adapter-UAV/vla-scripts/vla_evaluation.py new file mode 100644 index 0000000000000000000000000000000000000000..eb9c86da3ce9c22eacaa4b0e1faac22d9fab290f --- /dev/null +++ b/VLA-Adapter-UAV/vla-scripts/vla_evaluation.py @@ -0,0 +1,315 @@ +import torch +import torchvision.transforms as T +import torch.nn.functional as F +import numpy as np +from PIL import Image +from einops import rearrange +import time +from typing import Any, Dict, List, Optional, Tuple, Union +import tensorflow as tf +from calvin_agent.models.calvin_base_model import CalvinBaseModel +from prismatic.vla.constants import ( + ACTION_DIM, + ACTION_PROPRIO_NORMALIZATION_TYPE, +) +from prismatic.vla.datasets.rlds.utils.data_utils import NormalizationType + + +OPENVLA_IMAGE_SIZE = 224 + + +def get_openvla_prompt(instruction: str, tokenized_action: str = None) -> str: + return f"In: What action should the robot take to {instruction.lower()}?\nOut:" + + +def normalize_proprio(proprio: np.ndarray, norm_stats: Dict[str, Any]) -> np.ndarray: + """ + Normalize proprioception data to match training distribution. + + Args: + proprio: Raw proprioception data + norm_stats: Normalization statistics + + Returns: + np.ndarray: Normalized proprioception data + """ + if ACTION_PROPRIO_NORMALIZATION_TYPE == NormalizationType.BOUNDS: + mask = norm_stats.get("mask", np.ones_like(norm_stats["min"], dtype=bool)) + proprio_high, proprio_low = np.array(norm_stats["max"]), np.array(norm_stats["min"]) + elif ACTION_PROPRIO_NORMALIZATION_TYPE == NormalizationType.BOUNDS_Q99: + mask = norm_stats.get("mask", np.ones_like(norm_stats["q01"], dtype=bool)) + proprio_high, proprio_low = np.array(norm_stats["q99"]), np.array(norm_stats["q01"]) + else: + raise ValueError("Unsupported action/proprio normalization type detected!") + + normalized_proprio = np.clip( + np.where( + mask, + 2 * (proprio - proprio_low) / (proprio_high - proprio_low + 1e-8) - 1, + proprio, + ), + a_min=-1.0, + a_max=1.0, + ) + + return normalized_proprio + + +def resize_image_for_policy(img: np.ndarray, resize_size: Union[int, Tuple[int, int]]) -> np.ndarray: + """ + Resize an image to match the policy's expected input size. + + Uses the same resizing scheme as in the training data pipeline for distribution matching. + + Args: + img: Numpy array containing the image + resize_size: Target size as int (square) or (height, width) tuple + + Returns: + np.ndarray: The resized image + """ + assert isinstance(resize_size, int) or isinstance(resize_size, tuple) + if isinstance(resize_size, int): + resize_size = (resize_size, resize_size) + + # Resize using the same pipeline as in RLDS dataset builder + img = tf.image.encode_jpeg(img) # Encode as JPEG + img = tf.io.decode_image(img, expand_animations=False, dtype=tf.uint8) # Decode back + img = tf.image.resize(img, resize_size, method="lanczos3", antialias=True) + img = tf.cast(tf.clip_by_value(tf.round(img), 0, 255), tf.uint8) + + return img.numpy() + + + +def crop_and_resize(image: tf.Tensor, crop_scale: float, batch_size: int) -> tf.Tensor: + """ + Center-crop an image and resize it back to original dimensions. + + Uses the same logic as in the training data pipeline for distribution matching. + + Args: + image: TF Tensor of shape (batch_size, H, W, C) or (H, W, C) with values in [0,1] + crop_scale: Area of center crop relative to original image + batch_size: Batch size + + Returns: + tf.Tensor: The cropped and resized image + """ + # Handle 3D inputs by adding batch dimension if needed + assert image.shape.ndims in (3, 4), "Image must be 3D or 4D tensor" + expanded_dims = False + if image.shape.ndims == 3: + image = tf.expand_dims(image, axis=0) + expanded_dims = True + + # Calculate crop dimensions (note: we use sqrt(crop_scale) for h/w) + new_heights = tf.reshape(tf.clip_by_value(tf.sqrt(crop_scale), 0, 1), shape=(batch_size,)) + new_widths = tf.reshape(tf.clip_by_value(tf.sqrt(crop_scale), 0, 1), shape=(batch_size,)) + + # Create bounding box for the crop + height_offsets = (1 - new_heights) / 2 + width_offsets = (1 - new_widths) / 2 + bounding_boxes = tf.stack( + [ + height_offsets, + width_offsets, + height_offsets + new_heights, + width_offsets + new_widths, + ], + axis=1, + ) + + # Apply crop and resize + image = tf.image.crop_and_resize( + image, bounding_boxes, tf.range(batch_size), (OPENVLA_IMAGE_SIZE, OPENVLA_IMAGE_SIZE) + ) + + # Remove batch dimension if it was added + if expanded_dims: + image = image[0] + + return image + + + +def center_crop_image(image: Union[np.ndarray, Image.Image]) -> Image.Image: + """ + Center crop an image to match training data distribution. + + Args: + image: Input image (PIL or numpy array) + + Returns: + Image.Image: Cropped PIL Image + """ + batch_size = 1 + crop_scale = 0.9 + # Convert to TF Tensor if needed + if not isinstance(image, tf.Tensor): + image = tf.convert_to_tensor(np.array(image)) + + orig_dtype = image.dtype + + # Convert to float32 in range [0,1] + image = tf.image.convert_image_dtype(image, tf.float32) + + # Apply center crop and resize + image = crop_and_resize(image, crop_scale, batch_size) + + # Convert back to original data type + image = tf.clip_by_value(image, 0, 1) + image = tf.image.convert_image_dtype(image, orig_dtype, saturate=True) + + # Convert to PIL Image + return Image.fromarray(image.numpy()).convert("RGB") + + +def check_image_format(image: Any) -> None: + """ + Validate input image format. + + Args: + image: Image to check + + Raises: + AssertionError: If image format is invalid + """ + is_numpy_array = isinstance(image, np.ndarray) + has_correct_shape = len(image.shape) == 3 and image.shape[-1] == 3 + has_correct_dtype = image.dtype == np.uint8 + + assert is_numpy_array and has_correct_shape and has_correct_dtype, ( + "Incorrect image format detected! Make sure that the input image is a " + "numpy array with shape (H, W, 3) and dtype np.uint8!" + ) + + + +class DualSystemCalvinEvaluation(CalvinBaseModel): + def __init__(self, model, proprio_projector, noisy_action_projector, action_head, processor, use_x0_prediction=False): + super().__init__() + + self.device = torch.device("cuda") if torch.cuda.is_available() else torch.device("cpu") + self.processor = processor + self.OFT = model + self.proprio_projector = proprio_projector + self.noisy_action_projector = noisy_action_projector + self.action_head = action_head + self.use_x0_prediction = use_x0_prediction + + # Set x0 prediction flag in action head if using diffusion + if self.action_head is not None and hasattr(self.action_head, 'use_x0_prediction'): + self.action_head.use_x0_prediction = use_x0_prediction + + self.temporal_size = 8 + self.temporal_mask = torch.flip(torch.triu(torch.ones(self.temporal_size, self.temporal_size, dtype=torch.bool)), dims=[1]).numpy() + + self.action_buffer = np.zeros((self.temporal_mask.shape[0], self.temporal_mask.shape[0], 7)) + self.action_buffer_mask = np.zeros((self.temporal_mask.shape[0], self.temporal_mask.shape[0]), dtype=np.bool_) + + self.action = None + self.hidden_states = None + self.obs_buffer = None + + # Action chunking with temporal aggregation + balancing_factor = 0.1 + self.temporal_weights = np.array([np.exp(-1 * balancing_factor * i) for i in range(self.temporal_size)])[:, None] + + # Dataset statics (rougnly computed with 10k samples in CALVIN) + self.depth_max = 6.2 + self.depth_min = 3.5 + self.gripper_depth_max = 2.0 + self.gripper_depth_min = 0 + + self.hist_action = [] + + + def reset(self,): + """ + This is called + """ + + self.action_buffer = np.zeros((self.temporal_mask.shape[0], self.temporal_mask.shape[0], 7)) + self.action_buffer_mask = np.zeros((self.temporal_mask.shape[0], self.temporal_mask.shape[0]), dtype=np.bool_) + self.obs_buffer = None + self.hist_action = [] + + + def step(self, obs, instruction, step): + """ + Args: + obs: environment observations + instruction: embedded language goal + Returns: + action: predicted action + """ + processed_images = [] + image = obs["rgb_obs"]['rgb_static'] # {ndarray: (200, 200, 3)} + gripper_image = obs["rgb_obs"]['rgb_gripper'] # {ndarray: (84, 84, 3)} + # gripper_image1 = self.processor.image_processor.apply_transform(Image.fromarray(gripper_image))[:3].unsqueeze(0).to(self.dual_sys.device) + + # tactile_image = None + # tactile_image = torch.from_numpy(obs["rgb_obs"]['rgb_tactile']).permute(2,0,1).unsqueeze(0).to(self.dual_sys.device, dtype=torch.float) / 255 + # depth_image = torch.from_numpy(obs["depth_obs"]['depth_static']).unsqueeze(0).to(self.dual_sys.device) - self.depth_min / (self.depth_max - self.depth_min) + # depth_gripper = torch.from_numpy(obs["depth_obs"]['depth_gripper']).unsqueeze(0).to(self.dual_sys.device) - self.gripper_depth_min / (self.gripper_depth_max - self.gripper_depth_min) + + # image = image[::-1, ::-1] + check_image_format(image) + if image.shape != (OPENVLA_IMAGE_SIZE, OPENVLA_IMAGE_SIZE, 3): + image_resize = resize_image_for_policy(image, OPENVLA_IMAGE_SIZE) + pil_image = Image.fromarray(image_resize).convert("RGB") + pil_image = center_crop_image(pil_image) + + # gripper_image = gripper_image[::-1, ::-1] + check_image_format(gripper_image) + if gripper_image.shape != (OPENVLA_IMAGE_SIZE, OPENVLA_IMAGE_SIZE, 3): + gripper_image = resize_image_for_policy(gripper_image, OPENVLA_IMAGE_SIZE) + gripper_pil_image = Image.fromarray(gripper_image).convert("RGB") + gripper_pil_image = center_crop_image(gripper_pil_image) + + processed_images.append(pil_image) + processed_images.append(gripper_pil_image) + primary_image = processed_images.pop(0) + # prompt = get_openvla_prompt(instruction) + prompt = f'<|im_start|>system\nYou are Qwen, created by Alibaba Cloud. You are a helpful assistant.<|im_end|>\n<|im_start|>user\nWhat action should the robot take to {instruction.lower()}?<|im_end|>\n<|im_start|>assistant\n' + + inputs = self.processor(prompt, primary_image).to(self.OFT.device, dtype=torch.bfloat16) + all_wrist_inputs = [self.processor(prompt, processed_images).to(self.OFT.device, dtype=torch.bfloat16)] + # inputs = self.processor(prompt, Image.fromarray(image)).to(self.OFT.device, dtype=torch.bfloat16) + # all_wrist_inputs = [self.processor(prompt, Image.fromarray(gripper_image)).to(self.OFT.device, dtype=torch.bfloat16)] + + primary_pixel_values = inputs["pixel_values"] + all_wrist_pixel_values = [wrist_inputs["pixel_values"] for wrist_inputs in all_wrist_inputs] + inputs["pixel_values"] = torch.cat([primary_pixel_values] + all_wrist_pixel_values, dim=1) + + # proprio_state = obs['robot_obs'][-8:] + + proprio_state = np.concatenate([obs['robot_obs'][:7], obs['robot_obs'][-1:]]) # EE position (3), EE orientation in euler angles (3), gripper width (1), joint positions (7), gripper action (1) + proprio_norm_stats = self.OFT.norm_stats['calvin_abc_rlds']['proprio'] + # proprio_norm_stats = self.OFT.norm_stats['calvin']['proprio'] + + obs["state"] = normalize_proprio(proprio_state, proprio_norm_stats) + proprio_state = obs["state"] + + # state = torch.from_numpy(obs['robot_obs']).to(self.dual_sys.device, dtype=torch.float) + # state = torch.cat([state[:6], state[[-1]]], dim=-1).unsqueeze(0)\ + with torch.no_grad(): + action, _ = self.OFT.predict_action( + **inputs, + unnorm_key="calvin_abc_rlds", + # unnorm_key="calvin", + do_sample=False, + proprio=proprio_state, + proprio_projector=self.proprio_projector, + action_head=self.action_head, + noisy_action_projector=self.noisy_action_projector, + use_film=False, + ) + + + + action[:,-1] = 1 - action[:,-1] + + + return [action[i] for i in range(min(len(action), 8))] diff --git a/VLA-Adapter-UAV/vla_adapter.egg-info/PKG-INFO b/VLA-Adapter-UAV/vla_adapter.egg-info/PKG-INFO new file mode 100644 index 0000000000000000000000000000000000000000..81228078658704a5fbc346edbeabf9a266066b1a --- /dev/null +++ b/VLA-Adapter-UAV/vla_adapter.egg-info/PKG-INFO @@ -0,0 +1,177 @@ +Metadata-Version: 2.4 +Name: vla-adapter +Version: 0.0.1 +Summary: Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success +Author-email: Yihao Wang, Pengxiang Ding, Lingxiao Li et al. +License: MIT License + + Copyright (c) 2025 Yihao Wang, Pengxiang Ding, Lingxiao Li et al. + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all + copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. + +Project-URL: homepage, https://github.com/moojink/openvla-oft +Project-URL: repository, https://github.com/moojink/openvla-oft +Project-URL: documentation, https://github.com/moojink/openvla-oft +Keywords: vision-language-actions models,fine-tuning,robot learning +Classifier: Development Status :: 3 - Alpha +Classifier: Intended Audience :: Developers +Classifier: Intended Audience :: Education +Classifier: Intended Audience :: Science/Research +Classifier: License :: OSI Approved :: MIT License +Classifier: Operating System :: OS Independent +Classifier: Programming Language :: Python :: 3 +Classifier: Programming Language :: Python :: 3.8 +Classifier: Programming Language :: Python :: 3.9 +Classifier: Programming Language :: Python :: 3.10 +Classifier: Programming Language :: Python :: 3 :: Only +Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence +Requires-Python: >=3.8 +Description-Content-Type: text/markdown +License-File: LICENSE +Requires-Dist: accelerate>=0.25.0 +Requires-Dist: draccus==0.8.0 +Requires-Dist: einops +Requires-Dist: huggingface_hub +Requires-Dist: json-numpy +Requires-Dist: jsonlines +Requires-Dist: matplotlib +Requires-Dist: peft==0.11.1 +Requires-Dist: protobuf +Requires-Dist: rich +Requires-Dist: sentencepiece==0.1.99 +Requires-Dist: timm==0.9.10 +Requires-Dist: tokenizers==0.19.1 +Requires-Dist: torch==2.2.0 +Requires-Dist: torchvision==0.17.0 +Requires-Dist: torchaudio==2.2.0 +Requires-Dist: transformers@ git+https://github.com/moojink/transformers-openvla-oft.git +Requires-Dist: wandb +Requires-Dist: tensorflow==2.15.0 +Requires-Dist: tensorflow_datasets==4.9.3 +Requires-Dist: tensorflow_graphics==2021.12.3 +Requires-Dist: dlimp@ git+https://github.com/moojink/dlimp_openvla +Requires-Dist: diffusers +Requires-Dist: imageio +Requires-Dist: uvicorn +Requires-Dist: fastapi +Requires-Dist: json-numpy +Provides-Extra: dev +Requires-Dist: black>=24.2.0; extra == "dev" +Requires-Dist: gpustat; extra == "dev" +Requires-Dist: ipython; extra == "dev" +Requires-Dist: pre-commit; extra == "dev" +Requires-Dist: ruff>=0.2.2; extra == "dev" +Provides-Extra: sagemaker +Requires-Dist: boto3; extra == "sagemaker" +Requires-Dist: sagemaker; extra == "sagemaker" +Dynamic: license-file + +# Fine-Tuning Vision-Language-Action Models: Optimizing Speed and Success + +**Project website: https://openvla-oft.github.io/** + +**Paper: https://arxiv.org/abs/2502.19645** + +**Summary video: https://youtu.be/T3Zkkr_NTSA** + +## System Requirements + +Training: +* Between 1-8 GPUs with 10-80 GB, depending on the desired training setup (with default bfloat16 data type). See [this FAQ on our project website](https://openvla-oft.github.io/#train-compute) for details. + +## Quick Start + +First, set up a conda environment (see instructions in [SETUP.md](SETUP.md)). + +Then, run the Python script below to download a pretrained OpenVLA-OFT checkpoint and run inference to generate an action chunk: + +```python +import pickle +from experiments.robot.libero.run_libero_eval import GenerateConfig +from experiments.robot.openvla_utils import get_action_head, get_processor, get_proprio_projector, get_vla, get_vla_action +from prismatic.vla.constants import NUM_ACTIONS_CHUNK, PROPRIO_DIM + +# Instantiate config (see class GenerateConfig in experiments/robot/libero/run_libero_eval.py for definitions) +cfg = GenerateConfig( + pretrained_checkpoint = "moojink/openvla-7b-oft-finetuned-libero-spatial", + use_l1_regression = True, + use_diffusion = False, + use_film = False, + num_images_in_input = 2, + use_proprio = True, + load_in_8bit = False, + load_in_4bit = False, + center_crop = True, + num_open_loop_steps = NUM_ACTIONS_CHUNK, + unnorm_key = "libero_spatial_no_noops", +) + +# Load OpenVLA-OFT policy and inputs processor +vla = get_vla(cfg) +processor = get_processor(cfg) + +# Load MLP action head to generate continuous actions (via L1 regression) +action_head = get_action_head(cfg, llm_dim=vla.llm_dim) + +# Load proprio projector to map proprio to language embedding space +proprio_projector = get_proprio_projector(cfg, llm_dim=vla.llm_dim, proprio_dim=PROPRIO_DIM) + +# Load sample observation: +# observation (dict): { +# "full_image": primary third-person image, +# "wrist_image": wrist-mounted camera image, +# "state": robot proprioceptive state, +# "task_description": task description, +# } +with open("experiments/robot/libero/sample_libero_spatial_observation.pkl", "rb") as file: + observation = pickle.load(file) + +# Generate robot action chunk (sequence of future actions) +actions = get_vla_action(cfg, vla, processor, observation, observation["task_description"], action_head, proprio_projector) +print("Generated action chunk:") +for act in actions: + print(act) +``` + +## Installation + +See [SETUP.md](SETUP.md) for instructions on setting up the conda environment. + +## Training and Evaluation + +See [LIBERO.md](LIBERO.md) for fine-tuning/evaluating on LIBERO simulation benchmark task suites. + +See [ALOHA.md](ALOHA.md) for fine-tuning/evaluating on real-world ALOHA robot tasks. + +## Support + +If you run into any issues, please open a new GitHub issue. If you do not receive a response within 2 business days, please email Moo Jin Kim (moojink@cs.stanford.edu) to bring the issue to his attention. + +## Citation + +If you use our code in your work, please cite [our paper](https://arxiv.org/abs/2502.19645): + +```bibtex +@article{wang2025vlaadapter, + title={VLA-Adapter: An Effective Paradigm for Tiny-Scale Vision-Language-Action Model}, + author={Wang, Yihao and Ding, Pengxiang and Li, Lingxiao and Cui, Can and Ge, Zirui and Tong, Xinyang and Song, Wenxuan and Zhao, Han and Zhao, Wei and Hou, Pengxu and Huang, Siteng and Tang, Yifan and Wang, Wenhui and Zhang, Ru and Liu, Jianyi and Wang, Donglin}, + journal={arXiv preprint arXiv:2509.09372}, + year={2025} +} +``` diff --git a/VLA-Adapter-UAV/vla_adapter.egg-info/SOURCES.txt b/VLA-Adapter-UAV/vla_adapter.egg-info/SOURCES.txt new file mode 100644 index 0000000000000000000000000000000000000000..7ed48a4217b712e28ed9637842fcbb9af63447fd --- /dev/null +++ b/VLA-Adapter-UAV/vla_adapter.egg-info/SOURCES.txt @@ -0,0 +1,118 @@ +LICENSE +README.md +pyproject.toml +experiments/robot/openvla_utils.py +experiments/robot/robot_utils.py +experiments/robot/aloha/aloha_utils.py +experiments/robot/aloha/constants.py +experiments/robot/aloha/preprocess_split_aloha_data.py +experiments/robot/aloha/real_env.py +experiments/robot/aloha/robot_utils.py +experiments/robot/aloha/run_aloha_eval.py +experiments/robot/bridge/bridgev2_utils.py +experiments/robot/bridge/run_bridgev2_eval.py +experiments/robot/bridge/widowx_env.py +experiments/robot/libero/libero_utils.py +experiments/robot/libero/regenerate_libero_dataset.py +experiments/robot/libero/run_libero_eval.py +openvla_oft.egg-info/PKG-INFO +openvla_oft.egg-info/SOURCES.txt +openvla_oft.egg-info/dependency_links.txt +openvla_oft.egg-info/requires.txt +openvla_oft.egg-info/top_level.txt +prismatic/__init__.py +prismatic/py.typed +prismatic/conf/__init__.py +prismatic/conf/datasets.py 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0000000000000000000000000000000000000000..8b137891791fe96927ad78e64b0aad7bded08bdc --- /dev/null +++ b/VLA-Adapter-UAV/vla_adapter.egg-info/dependency_links.txt @@ -0,0 +1 @@ + diff --git a/VLA-Adapter-UAV/vla_adapter.egg-info/requires.txt b/VLA-Adapter-UAV/vla_adapter.egg-info/requires.txt new file mode 100644 index 0000000000000000000000000000000000000000..1dd95a16bbfddb5fd543b5015d762fa6624674dc --- /dev/null +++ b/VLA-Adapter-UAV/vla_adapter.egg-info/requires.txt @@ -0,0 +1,38 @@ +accelerate>=0.25.0 +draccus==0.8.0 +einops +huggingface_hub +json-numpy +jsonlines +matplotlib +peft==0.11.1 +protobuf +rich +sentencepiece==0.1.99 +timm==0.9.10 +tokenizers==0.19.1 +torch==2.2.0 +torchvision==0.17.0 +torchaudio==2.2.0 +transformers@ git+https://github.com/moojink/transformers-openvla-oft.git +wandb +tensorflow==2.15.0 +tensorflow_datasets==4.9.3 +tensorflow_graphics==2021.12.3 +dlimp@ git+https://github.com/moojink/dlimp_openvla +diffusers +imageio +uvicorn +fastapi +json-numpy + +[dev] +black>=24.2.0 +gpustat +ipython +pre-commit +ruff>=0.2.2 + +[sagemaker] +boto3 +sagemaker diff --git a/VLA-Adapter-UAV/vla_adapter.egg-info/top_level.txt b/VLA-Adapter-UAV/vla_adapter.egg-info/top_level.txt new file mode 100644 index 0000000000000000000000000000000000000000..16a23a4e78aa583faafd8115a6a827c00ed9b5e5 --- /dev/null +++ b/VLA-Adapter-UAV/vla_adapter.egg-info/top_level.txt @@ -0,0 +1,4 @@ +experiments +prismatic +scripts +vla-scripts